GT2004EdgeSpecialist Class Reference

#include <GT2004EdgeSpecialist.h>

List of all members.

Public Member Functions

 GT2004EdgeSpecialist ()
void reset ()
void resetLine ()
void checkPoint (Vector2< int > point, colorClass color, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Image &image)
void addCandidate (Vector2< int > point, const Image &image)
void getEdgesPercept (EdgesPercept &percept, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Image &image)

Private Types

 maxNumberOfEdgePoints = 200
enum  { maxNumberOfEdgePoints = 200 }

Private Attributes

bool greenBefore
bool whiteBefore
int numberOfContinuousNoColor
Vector2< int > lastGreen
Vector2< int > lastGreenField
Vector2< int > lastWhite
Vector2< int > lastWhiteField
EdgePoint edgePoints [maxNumberOfEdgePoints]
int numOfEdgePoints
double gradientThreshold
double normDistance
double normProjection
double multipleAverageDistance
Matrix2x2< double > referenceChange

Classes

struct  EdgePoint


Detailed Description

The EdgeSpecialist finds a line- and border-edges in an image.

Definition at line 20 of file GT2004EdgeSpecialist.h.


Member Enumeration Documentation

anonymous enum [private]

Enumerator:
maxNumberOfEdgePoints 

Definition at line 62 of file GT2004EdgeSpecialist.h.


Constructor & Destructor Documentation

GT2004EdgeSpecialist::GT2004EdgeSpecialist (  ) 

Definition at line 15 of file GT2004EdgeSpecialist.cpp.

References pi.


Member Function Documentation

void GT2004EdgeSpecialist::addCandidate ( Vector2< int >  point,
const Image image 
)

add a point in camera-coordinates which is a candidate for an edge point.

Definition at line 97 of file GT2004EdgeSpecialist.cpp.

References Vector2< V >::abs(), GT2004EdgeSpecialist::EdgePoint::belongsToLineNo, DOT, edgePoints, gradientThreshold, idText, image, GT2004EdgeSpecialist::EdgePoint::line, maxNumberOfEdgePoints, Vector2< V >::normalize(), numOfEdgePoints, GT2004EdgeSpecialist::EdgePoint::offset, OUTPUT, referenceChange, text, GT2004EdgeSpecialist::EdgePoint::weight, Vector2< V >::x, and Vector2< V >::y.

Referenced by checkPoint().

void GT2004EdgeSpecialist::checkPoint ( Vector2< int >  point,
colorClass  color,
const CameraMatrix cameraMatrix,
const CameraMatrix prevCameraMatrix,
const Image image 
)

check point in camera-coordinates with given color on scanline if interesting changes.

Definition at line 54 of file GT2004EdgeSpecialist.cpp.

References addCandidate(), Geometry::calculatePointOnField(), green, greenBefore, image, lastGreen, lastGreenField, lastWhite, noColor, numberOfContinuousNoColor, white, whiteBefore, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004ImageProcessor::scan().

void GT2004EdgeSpecialist::getEdgesPercept ( EdgesPercept percept,
const CameraMatrix cameraMatrix,
const CameraMatrix prevCameraMatrix,
const Image image 
)

Searches for the edges based on the points and return edge-percepts from those.

Definition at line 142 of file GT2004EdgeSpecialist.cpp.

References Geometry::Line::base, Geometry::calculateLineSize(), Geometry::Line::direction, edgePoints, image, GT2004EdgeSpecialist::EdgePoint::line, maxNumberOfEdgePoints, min, normDistance, normProjection, numOfEdgePoints, and GT2004EdgeSpecialist::EdgePoint::offset.

Referenced by GT2004ImageProcessor::execute().

void GT2004EdgeSpecialist::reset (  ) 

reset all data before processing next frame.

Definition at line 42 of file GT2004EdgeSpecialist.cpp.

References numOfEdgePoints.

Referenced by GT2004ImageProcessor::execute().

void GT2004EdgeSpecialist::resetLine (  ) 

reset before next scanline.

Definition at line 47 of file GT2004EdgeSpecialist.cpp.

References greenBefore, numberOfContinuousNoColor, and whiteBefore.

Referenced by GT2004ImageProcessor::scan().


Member Data Documentation

EdgePoint GT2004EdgeSpecialist::edgePoints[maxNumberOfEdgePoints] [private]

Definition at line 70 of file GT2004EdgeSpecialist.h.

Referenced by addCandidate(), and getEdgesPercept().

double GT2004EdgeSpecialist::gradientThreshold [private]

Definition at line 72 of file GT2004EdgeSpecialist.h.

Referenced by addCandidate().

bool GT2004EdgeSpecialist::greenBefore [private]

Definition at line 56 of file GT2004EdgeSpecialist.h.

Referenced by checkPoint(), and resetLine().

Vector2<int> GT2004EdgeSpecialist::lastGreen [private]

Definition at line 59 of file GT2004EdgeSpecialist.h.

Referenced by checkPoint().

Vector2<int> GT2004EdgeSpecialist::lastGreenField [private]

Definition at line 59 of file GT2004EdgeSpecialist.h.

Referenced by checkPoint().

Vector2<int> GT2004EdgeSpecialist::lastWhite [private]

Definition at line 60 of file GT2004EdgeSpecialist.h.

Referenced by checkPoint().

Vector2<int> GT2004EdgeSpecialist::lastWhiteField [private]

Definition at line 60 of file GT2004EdgeSpecialist.h.

double GT2004EdgeSpecialist::multipleAverageDistance [private]

Definition at line 75 of file GT2004EdgeSpecialist.h.

double GT2004EdgeSpecialist::normDistance [private]

Definition at line 73 of file GT2004EdgeSpecialist.h.

Referenced by getEdgesPercept().

double GT2004EdgeSpecialist::normProjection [private]

Definition at line 74 of file GT2004EdgeSpecialist.h.

Referenced by getEdgesPercept().

int GT2004EdgeSpecialist::numberOfContinuousNoColor [private]

Definition at line 58 of file GT2004EdgeSpecialist.h.

Referenced by checkPoint(), and resetLine().

int GT2004EdgeSpecialist::numOfEdgePoints [private]

Definition at line 71 of file GT2004EdgeSpecialist.h.

Referenced by addCandidate(), getEdgesPercept(), and reset().

Matrix2x2<double> GT2004EdgeSpecialist::referenceChange [private]

Definition at line 76 of file GT2004EdgeSpecialist.h.

Referenced by addCandidate().

bool GT2004EdgeSpecialist::whiteBefore [private]

Definition at line 57 of file GT2004EdgeSpecialist.h.

Referenced by checkPoint(), and resetLine().


The documentation for this class was generated from the following files:
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