MapBuilderRequest Class Reference

#include <MapBuilderRequest.h>

Detailed Description

Definition at line 22 of file MapBuilderRequest.h.

Public Types
enum	MapBuilderRequestType_t { cameraMap, groundMap, localMap, worldMap }
enum	GroundPlaneAssumption_t { onStand, onLegs, onWheel, custom }
typedef unsigned int	MapBuilderVerbosity_t
Public Member Functions
	MapBuilderRequest (MapBuilderRequestType_t reqtype=cameraMap)
	Constructor.
	MapBuilderRequest (const MapBuilderRequest &req)
	Copy constructor.
MapBuilderRequest &	operator= (const MapBuilderRequest &req)
	Assignment operator.
virtual	~MapBuilderRequest ()
	Destructor.
MapBuilderRequestType_t	getRequestType () const
std::set< color_index >	allColors ()
	Set of all non-zero/non-unsaturated colors (useful for requesting markers of all possible colors).
void	addObjectColor (ShapeType_t type, std::string const &color_name)
	Shortcut for specifying an objectColors entry.
void	addAllObjectColors (ShapeType_t type)
	Shortcut for specifying all object colors.
void	addOccluderColor (ShapeType_t type, std::string const &color_name)
	Shortcut for specifying an occluderColors entry.
void	addMinBlobArea (std::string const &color_name, int area)
	Shortcut for specifying a minimum blob area.
void	addAllMinBlobAreas (int area)
	Shortcut for specifying a minimum blob area for all blob colors.
void	addBlobOrientation (std::string const &color_name, BlobData::BlobOrientation_t orient, coordinate_t assumedHeight=0)
	Shortcut for specifying a blob's orientation and (for poster orientations) assumed height.
void	addMarkerType (MarkerType_t type)
	Shortcut for specifying a marker type to look for.
void	addSiftObject (string const &name)
	Shortcut for specifying a SIFT object type to look for.
void	setAprilTagFamily ()
	Shortcut for requesting AprilTag extraction using the smallest available tag family.
void	setAprilTagFamily (int bits, int minimumHammingDistance)
	Shortcut for selecting a specific AprilTag family.
Public Attributes
MapBuilderRequestType_t	requestType
	Type of map to build.
std::map< ShapeType_t, std::set< color_index > >	objectColors
	For each object type, a set of object color indices.
std::map< ShapeType_t, std::set< color_index > >	occluderColors
	For each object type, a set of occluder color indices.
std::map< color_index, int >	minBlobAreas
	Minimum acceptable areas for blobs of specified colors, e.g., req.minBlobAreas[pink_index]=50.
std::map< color_index, BlobData::BlobOrientation_t >	blobOrientations
	Default orientation for blobs of specified colors.
std::map< color_index, coordinate_t >	assumedBlobHeights
	Fixed heights for pillar or poster blobs of specified colors.
std::set< MarkerType_t >	markerTypes
	Types of markers to search for.
std::map< MarkerType_t, coordinate_t >	markerHeights
	Assumed height above ground in mm for markers of this type.
unsigned int	floorColor
string	siftDatabasePath
	Path to the SIFT object database to load.
std::set< std::string >	siftObjectNames
	Names of objects to search for; if empty, search for everything.
std::pair< int, int >	aprilTagFamily
	AprilTag family to use, e.g., Tag16h5 would be std::pair<int,int>(16,5).
unsigned int	motionSettleTime
	Time in msec to wait before taking measurements or throwing completion event after head reaches gazePt.
int	numSamples
	Number of camera images to combine, for noise reduction.
int	sampleInterval
	Interval in msec between successive samples.
float	maxDist
	Ignore objects farther than this distance.
bool	clearCamera
	If true (default), clear the camera sketch and shape spaces at start of request.
bool	clearLocal
	If true (default), clear the local sketch and shape spaces at start of request.
bool	clearWorld
	If true (default is false), clear the world sketch and shape spaces at start of request.
bool	pursueShapes
	If true, generate new gaze points as shapes are recognized.
bool	immediateRequest
	If true, the current camera image is processed immediately and results are available when MapBuilder::executeRequest() returns, so there's no need to set up an event listener. Only possible if numSamples == 1 and no head motion is required.
bool	manualHeadMotion
	If true, waits for !msg MoveHead before moving to next gaze point (for debugging).
bool	rawY
	If true, leave an intensity (Y-channel) image in camera space for debugging.
bool	removePts
	If true, remove pending gaze points if they're visible in current image.
bool	doScan
	If true, do a continuous scan of the area to find interest points to be examined.
AngPi	dTheta
	Angular step for scanning.
ShapeRoot	searchArea
	The area to search, in egocentric coords.
std::queue < LookoutSearchRequest * >	worldTargets
	Queue of search requests for world targets.
void(*	userImageProcessing )()
	User routine to call after a camera image is received.
void(*	userCamProcessing )()
	User routine to call after cam space processing.
void(*	userGroundProcessing )()
	User routine to call after ground space processing.
void(*	userLocalProcessing )()
	User routine to call after local space processing.
void(*	userWorldProcessing )()
	User routine to call after world space processing.
bool(*	exitTest )()
	If true, terminate map building and post completion event.
enum DualCoding::MapBuilderRequest::GroundPlaneAssumption_t	groundPlaneAssumption
PlaneEquation	customGroundPlane
	User-supplied ground plane.
BehaviorBase *	requestingBehavior
	The Behavior making this request; used for posting mapbuilder events.
MapBuilderVerbosity_t	setVerbosity
	Verbosity elements to force on.
MapBuilderVerbosity_t	clearVerbosity
	Verbosity elements to force off.
fmat::Transform	baseTransform
	Used by the Pilot when rotating the body to simulate a pan/tilt.
Static Public Attributes
static coordinate_t	defaultMarkerHeight = 7.0f * 25.4f
Protected Member Functions
bool	validateRequest ()
	check object types, colors, etc.
bool	validateSift ()
bool	validateRequestType ()
Static Protected Member Functions
static bool	validateColors (const map< ShapeType_t, set< color_index > > &shapes2colors)
static bool	validateAdd (ShapeType_t type, std::string const &color_name)
Private Attributes
std::vector< Point >	gazePts
std::vector< fmat::Transform >	baseToCamMats
unsigned int	requestID
	Set by mapbuilder when the request is added to its request queue.
MapBuilderVerbosity_t	verbosity
	Merger of global default verbosity settings and set/clear for this request.
Friends
class	MapBuilder

Member Typedef Documentation

typedef unsigned int MapBuilderVerbosity_t

Definition at line 33 of file MapBuilderRequest.h.

Member Enumeration Documentation

enum GroundPlaneAssumption_t

Enumerator:

onStand
onLegs
onWheel
custom

Definition at line 70 of file MapBuilderRequest.h.

enum MapBuilderRequestType_t

Enumerator:

cameraMap
groundMap
localMap
worldMap

Definition at line 26 of file MapBuilderRequest.h.

Constructor & Destructor Documentation

MapBuilderRequest ( MapBuilderRequestType_t reqtype = cameraMap )

Constructor.

Definition at line 85 of file MapBuilderRequest.h.

MapBuilderRequest ( const MapBuilderRequest & req )

Copy constructor.

Definition at line 105 of file MapBuilderRequest.h.

virtual ~MapBuilderRequest ( ) [virtual]

Destructor.

Definition at line 187 of file MapBuilderRequest.h.

Member Function Documentation

void addAllMinBlobAreas ( int area )

Shortcut for specifying a minimum blob area for all blob colors.

Definition at line 97 of file MapBuilderRequest.cc.

void addAllObjectColors ( ShapeType_t type )

Shortcut for specifying all object colors.

Definition at line 83 of file MapBuilderRequest.cc.

void addBlobOrientation	(	std::string const &	color_name,
		BlobData::BlobOrientation_t	orient,
		coordinate_t	assumedHeight = `0`
	)

Shortcut for specifying a blob's orientation and (for poster orientations) assumed height.

Definition at line 102 of file MapBuilderRequest.cc.

void addMarkerType ( MarkerType_t type )

Shortcut for specifying a marker type to look for.

Definition at line 107 of file MapBuilderRequest.cc.

void addMinBlobArea	(	std::string const &	color_name,
		int	area
	)

Shortcut for specifying a minimum blob area.

Definition at line 92 of file MapBuilderRequest.cc.

void addObjectColor	(	ShapeType_t	type,
		std::string const &	color_name
	)

Shortcut for specifying an objectColors entry.

Definition at line 78 of file MapBuilderRequest.cc.

void addOccluderColor	(	ShapeType_t	type,
		std::string const &	color_name
	)

Shortcut for specifying an occluderColors entry.

Definition at line 87 of file MapBuilderRequest.cc.

void addSiftObject ( string const & name )

Shortcut for specifying a SIFT object type to look for.

Definition at line 111 of file MapBuilderRequest.cc.

std::set< color_index > allColors ( )

Set of all non-zero/non-unsaturated colors (useful for requesting markers of all possible colors).

Definition at line 70 of file MapBuilderRequest.cc.

Referenced by MapBuilderRequest::addAllObjectColors().

MapBuilderRequestType_t getRequestType ( ) const

Definition at line 189 of file MapBuilderRequest.h.

Referenced by MapBuilder::determineNextGazePoint(), MapBuilder::processImage(), and MapBuilderRequest::validateRequestType().

MapBuilderRequest& operator= ( const MapBuilderRequest & req )

Assignment operator.

Definition at line 139 of file MapBuilderRequest.h.

void setAprilTagFamily	(	int	bits,
		int	minimumHammingDistance
	)

Shortcut for selecting a specific AprilTag family.

Definition at line 131 of file MapBuilderRequest.cc.

void setAprilTagFamily ( )

Shortcut for requesting AprilTag extraction using the smallest available tag family.

Definition at line 115 of file MapBuilderRequest.cc.

bool validateAdd	(	ShapeType_t	type,
		std::string const &	color_name
	)			`[static, protected]`

Definition at line 19 of file MapBuilderRequest.cc.

Referenced by MapBuilderRequest::addMinBlobArea(), MapBuilderRequest::addObjectColor(), and MapBuilderRequest::addOccluderColor().

bool validateColors ( const map< ShapeType_t, set< color_index > > & shapes2colors ) [static, protected]

Definition at line 32 of file MapBuilderRequest.cc.

Referenced by MapBuilderRequest::validateRequest().

bool validateRequest ( ) [protected]

check object types, colors, etc.

Definition at line 15 of file MapBuilderRequest.cc.

Referenced by MapBuilder::executeRequest().

bool validateRequestType ( ) [protected]

Definition at line 56 of file MapBuilderRequest.cc.

Referenced by MapBuilderRequest::validateRequest().

bool validateSift ( ) [protected]

Definition at line 52 of file MapBuilderRequest.cc.

Referenced by MapBuilderRequest::validateRequest().

Friends And Related Function Documentation

friend class MapBuilder [friend]

Definition at line 23 of file MapBuilderRequest.h.

Member Data Documentation

std::pair<int,int> aprilTagFamily

AprilTag family to use, e.g., Tag16h5 would be std::pair<int,int>(16,5).

Definition at line 47 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCamAprilTags(), MapBuilderRequest::operator=(), and MapBuilderRequest::setAprilTagFamily().

std::map<color_index, coordinate_t> assumedBlobHeights

Fixed heights for pillar or poster blobs of specified colors.

Definition at line 41 of file MapBuilderRequest.h.

Referenced by MapBuilderRequest::addBlobOrientation(), MapBuilder::getCamBlobs(), MapBuilder::getCameraShapes(), and MapBuilderRequest::operator=().

std::vector<fmat::Transform> baseToCamMats [private]

Definition at line 79 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), MapBuilder::extendLocal(), MapBuilder::extendWorld(), and MapBuilderRequest::operator=().

fmat::Transform baseTransform

Used by the Pilot when rotating the body to simulate a pan/tilt.

Definition at line 75 of file MapBuilderRequest.h.

Referenced by MapBuilderRequest::operator=(), and MapBuilder::processImage().

std::map<color_index, BlobData::BlobOrientation_t> blobOrientations

Default orientation for blobs of specified colors.

Definition at line 40 of file MapBuilderRequest.h.

Referenced by MapBuilderRequest::addBlobOrientation(), MapBuilder::getCamBlobs(), MapBuilder::getCameraShapes(), and MapBuilderRequest::operator=().

bool clearCamera

If true (default), clear the camera sketch and shape spaces at start of request.

Definition at line 52 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), and MapBuilderRequest::operator=().

bool clearLocal

If true (default), clear the local sketch and shape spaces at start of request.

Definition at line 53 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), and MapBuilderRequest::operator=().

MapBuilderVerbosity_t clearVerbosity

Verbosity elements to force off.

Definition at line 74 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), and MapBuilderRequest::operator=().

bool clearWorld

If true (default is false), clear the world sketch and shape spaces at start of request.

Definition at line 54 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), and MapBuilderRequest::operator=().

PlaneEquation customGroundPlane

User-supplied ground plane.

Definition at line 71 of file MapBuilderRequest.h.

Referenced by MapBuilder::calculateGroundPlane(), and MapBuilderRequest::operator=().

coordinate_t defaultMarkerHeight = 7.0f * 25.4f [static]

Definition at line 34 of file MapBuilderRequest.h.

Referenced by BiColorMarkerData::extractMarkers(), and MapBuilder::getCamAprilTags().

bool doScan

If true, do a continuous scan of the area to find interest points to be examined.

Definition at line 60 of file MapBuilderRequest.h.

Referenced by MapBuilder::defineGazePts(), MapBuilder::executeRequest(), MapBuilderRequest::operator=(), and MapBuilderRequest::validateRequestType().

AngPi dTheta

Angular step for scanning.

Definition at line 61 of file MapBuilderRequest.h.

Referenced by MapBuilderRequest::operator=(), and MapBuilder::scanForGazePts().

bool(* exitTest)()

If true, terminate map building and post completion event.

Definition at line 69 of file MapBuilderRequest.h.

Referenced by MapBuilderRequest::operator=(), and MapBuilder::requestExitTest().

unsigned int floorColor

Definition at line 44 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCameraShapes(), and MapBuilderRequest::operator=().

std::vector<Point> gazePts [private]

Definition at line 78 of file MapBuilderRequest.h.

Referenced by MapBuilder::defineGazePts(), MapBuilder::determineNextGazePoint(), MapBuilder::doEvent(), MapBuilder::executeRequest(), MapBuilder::extendLocal(), MapBuilder::extendWorld(), and MapBuilderRequest::operator=().

enum DualCoding::MapBuilderRequest::GroundPlaneAssumption_t groundPlaneAssumption

Referenced by MapBuilder::calculateGroundPlane(), and MapBuilderRequest::operator=().

bool immediateRequest

If true, the current camera image is processed immediately and results are available when MapBuilder::executeRequest() returns, so there's no need to set up an event listener. Only possible if numSamples == 1 and no head motion is required.

Definition at line 56 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), MapBuilderRequest::operator=(), and MapBuilderRequest::validateRequestType().

bool manualHeadMotion

If true, waits for !msg MoveHead before moving to next gaze point (for debugging).

Definition at line 57 of file MapBuilderRequest.h.

Referenced by MapBuilder::moveToNextGazePoint(), and MapBuilderRequest::operator=().

std::map<MarkerType_t, coordinate_t> markerHeights

Assumed height above ground in mm for markers of this type.

Definition at line 43 of file MapBuilderRequest.h.

Referenced by BiColorMarkerData::extractMarkers(), and MapBuilderRequest::operator=().

std::set<MarkerType_t> markerTypes

Types of markers to search for.