FilterBankGenerator Class Reference

Abstract base class for generators of FilterBankEvent's. More...

#include <FilterBankGenerator.h>

Inheritance diagram for FilterBankGenerator:

Detailed Description

Abstract base class for generators of FilterBankEvent's.

This is needed to provide an interface for the FilterBankEvent to call back when the actual image data is requested from it. This facilitates lazy calculation of image data... no sense in processing layers or channels which aren't actually going to be used...

Also this way we save on allocating/deallocating large memory blocks on each event... the buffers allocated here can be reused frame to frame.

Larger layer indicies generally indicate higher resolution images in a scaling pyramid, but you are free to store your own data however you wish.

Serialization Format

First, be sure to get a good overview of the LoadSave style. Most serialization is handled using this interface.

When, for instance, RawCameraGenerator::saveBuffer() is called, it first calls it's super class, FilterBankGenerator::saveBuffer(), which will write out the general image information, common to all subclasses of FilterBankGenerator. (i'll cover the specifics in a second) Once that's done, the RawCameraGenerator adds it's own bit of header and then saves the image data itself.

Note that only a single channel is being saved at this point. So for instance, all the Y information. No interleaving is going on. (unless you're saving from InterleavedYUVGenerator of course, which treats the 3 interleaved channels as a single image) Otherwise,only one image (selected with selectSaveImage()) of the bank will loaded or saved at a time.

So, anyway. The first header will be the same for all FilterBankGenerator subclasses. In the specification below, I'm going to use one field per line (the new lines are not literal, it's a binary stream). Each field is of the form '<type:name> (notes)'

FilterBankGenerator Header: (from FilterBankGenerator::saveBuffer())

<string: "FbkImage"> (remember a 'string' is len+str+0; so this is the literal "\010\0\0\0FbkImage\0"; also remember "\010" is octal for 8)
<unsigned int: width>
<unsigned int: height>
<unsigned int: image layer>
<unsigned int: image channel> (so notice you can tell which channel it is after it's been saved)

Generator Specific Header (selected examples follow, or similarly, any of the other generators)

RawCameraGenerator: (from RawCameraGenerator::saveBuffer())
- <string: "RawImage">
- <char[width*height]: image data> (note, just once channel being stored)
InterleavedYUVGenerator: (from InterleavedYUVGenerator::saveBuffer())
- <string: "InterleavedYUVImage">
- <char[width*height*3]: image data> (in YVU order, technically YCbCr)
SegmentedColorGenerator: (from SegmentedColorGenerator::saveBuffer())
- <string: "SegColorImage">
- <char[width*height]: image data> (one byte per sample)
- <unsigned int: num_cols> (number of different colors available)
- for each of num_col:
  - <char: red> red color to use for display of this index
  - <char: green> green color to use for display of this index
  - <char: blue> blue color to use for display of this index
RLEGenerator: (from RLEGenerator::saveBuffer())
- <string: "RLEImage"> (remember a 'string' is len+str+0; so this is the literal "\010\0\0\0RLEImage\0"; also remember "\010" is octal for 8)
- <unsigned int: num_runs> (how many runs will follow)
- for each of num_runs:
  - <char: color> (index value of color of run)
  - <short: x> (x position of start of run ("unknown" runs are skipped - assume index 0 for pixels which are jumped))
  - <short: width> (length of run, will not exceed remaining width of image)
- notice there's no color information from RLE - it's not (shouldn't be) assuming anything about the data being compressed)

However, while we're on the topic, I'll mention that although this is the same image format used for streaming to VisionGUI, there's a few more fields added by RawCam behavior or SegCam behavior at the beginning of each packet. See those classes for more information on the wireless protocol. That should tell you everything you need to know to interpret the vision stream as well.

Adding New FilterBankGenerator Subclasses

If you're doing fancy memory stuff, you probably want to override the freeCaches() and destruct() functions so that the default implementation won't try to free something it shouldn't. Don't forget to call them from your own destructor though, otherwise your versions won't get called before the default implementation's does.

If you want to be able to transmit or save your images, you will need to override the LoadSave functions (listed below) to provide your own code for interpreting the image data itself, and then create or modify a behavior to open a socket and transmit the information. (you could do that from within the generator itself if you like)

You will probably also want to add a few extra functions to allow users to set compression/data format parameters.

See also:: RawCameraGenerator, SegmentedColorGenerator for the basic image access; RLEGenerator, RegionGenerator for some relatively simple examples of vision stages if you want to make some of your own.

Definition at line 112 of file FilterBankGenerator.h.

List of all members.

Public Member Functions
virtual	~FilterBankGenerator ()
	destructor
virtual const FilterBankGenerator *	getSourceGenerator () const
	returns the generator this is receiving its events from (or the last one anyway)
virtual unsigned int	getNumLayers () const
	returns the number of image layers (e.g. different resolutions available)
virtual unsigned int	getNumChannels () const
	returns the number of channels per image (e.g. Y, U, or V components)
virtual unsigned char *	getImage (unsigned int layer, unsigned int channel)
	returns pointer to the beginning of the image data for the specified layer and channel
virtual size_t	getImageSize (unsigned int layer, unsigned int) const
	returns the number of bytes used for the data returned by getImage() - if the data varies in size (e.g. jpeg compression), will return 0 if the image hasn't been calculated yet (so call it after getImage())
virtual bool	getImageCached (unsigned int layer, unsigned int channel) const
	returns whether or not an image has already been calculated for the current frame
unsigned int	getWidth (unsigned int layer) const
	returns width (in samples) of the image in a given layer
unsigned int	getHeight (unsigned int layer) const
	returns height (in samples) of the image in a given layer
unsigned int	getSkip (unsigned int layer) const
	returns the bytes to skip from the one-past-end of a row to get the beginning of the next
unsigned int	getStride (unsigned int layer) const
	returns the bytes to skip from the beginning of one row to get the beginning of the next
unsigned int	getIncrement (unsigned int layer) const
	returns the increment (in bytes) to use to go from one sample to the next
unsigned int	getFrameNumber () const
	returns the frame number of the current frame, see frameNumber
unsigned int	getFramesProcessed () const
	returns the number of frames processed, see framesProcessed
unsigned char *	getPixel (unsigned int px, unsigned int py, unsigned int layer, unsigned int channel)
	returns a pointer to a particular sample; if you are using this in an inner loop, consider using the getSkip() and getIncrement() values to iterate with better performance
unsigned char *	getPixel (float x, float y, unsigned int layer, unsigned int channel)
	returns a pointer to a particular sample; if you are using this in an inner loop, consider using the getSkip() and getIncrement() values to iterate with better performance
void	getPixelCoordinates (unsigned int &px, unsigned int &py, float x, float y, unsigned int layer) const
	sets the pixel-coordinate px and py parameters to the corresponding value of x and y
void	getRealCoordinates (float &x, float &y, unsigned int px, unsigned int py, unsigned int layer) const
	sets the x and y parameters from the pixel-coordinates px and py
virtual void	freeCaches ()
	deletes storage of cached images and marks it invalid
virtual void	invalidateCaches ()
	marks all of the cached images as invalid (but doesn't free their memory)
virtual void	doEvent ()
	default implementation does a few common housekeeping chores for you - probably should just take a look at its code
LoadSave interface

virtual unsigned int	getBinSize () const
virtual unsigned int	loadBuffer (const char buf[], unsigned int len, const char *filename=NULL)
virtual unsigned int	saveBuffer (char buf[], unsigned int len) const
virtual void	selectSaveImage (unsigned int layer, unsigned int channel)
	Not actually part of the LoadSave interface, but allows you to select which image of the bank will be saved.
virtual unsigned int	getSelectedSaveLayer () const
	returns layer to be saved, or layer of last image loaded
virtual unsigned int	getSelectedSaveChannel () const
	returns channel to be saved, or channel of last image loaded
Protected Member Functions
	FilterBankGenerator (const std::string &instancename, EventBase::EventGeneratorID_t mgid, unsigned int msid, EventBase::EventGeneratorID_t srcegid, unsigned int srcsrc)
	constructor, separate class and instance names, with a raw event specification, excluding type typically for stages which reference the previous stage's data
	FilterBankGenerator (const std::string &instancename, EventBase::EventGeneratorID_t mgid, unsigned int msid, EventBase::EventGeneratorID_t srcegid, unsigned int srcsrc, EventBase::EventTypeID_t srcetid)
	constructor, separate class and instance names, with a raw event specification, including type typically for stages which will store their own copy of the data
	FilterBankGenerator (const std::string &instancename, EventBase::EventGeneratorID_t mgid, unsigned int msid, FilterBankGenerator *fbgsrc)
	constructor, separate class and instance names, with a filter bank source, passes on all types typically for stages which reference the previous stage's data
	FilterBankGenerator (const std::string &instancename, EventBase::EventGeneratorID_t mgid, unsigned int msid, FilterBankGenerator *fbgsrc, EventBase::EventTypeID_t etid)
	constructor, separate class and instance names, with a filter bank source, accepts a particular type typically for stages which will store their own data
virtual void	setNumImages (unsigned int nLayers, unsigned int nChannels)
	resizes the filter bank information storage area, you should override this to do your setup and call it from your constructor
virtual void	setDimensions ()
	resets width and height parameters to that of the src
virtual unsigned char *	createImageCache (unsigned int layer, unsigned int channel) const =0
	create new image data storage area for the cache - this called by getImage() only when the corresponding entry in images is NULL
virtual void	calcImage (unsigned int layer, unsigned int channel)=0
	should calculate new image data, called by getImage() only when imageValids indicates the image being requested is dirty (and only after getImage() has already called createImageCache())
virtual void	destruct ()
	deletes the arrays
virtual bool	refresh ()
	updates the image data to make sure its up to date with what's available from the source
Protected Attributes
FilterBankGenerator *	src
	the generator of the last FilterBankEvent received
unsigned int	numLayers
	current number of layers available
unsigned int	numChannels
	current number of channels available
unsigned int *	widths
	an array of size numLayers, width (in samples) in pixels of each layer
unsigned int *	heights
	an array of size numLayers, height (in samples) in pixels of each layer
unsigned int *	skips
	an array of size numLayers, skip (in bytes) from row end to next row begin
unsigned int *	strides
	an array of size numLayers, stride (in bytes) from a given column in one row to the same column in the next row
unsigned int *	increments
	an array of size numLayers, increment (in bytes) to use to get from one sample to the next
unsigned char ***	images
	an array [numLayers][numChannels], stores pointer to cached image data
bool **	imageValids
	an array [numLayers][numChannels], entry is true if cached data is still valid
unsigned int	selectedSaveLayer
	layer to be manipulated with the LoadSave functions
unsigned int	selectedSaveChannel
	channel to be manipulated with the LoadSave functions
unsigned int	frameNumber
	the frame number of last frame received by doEvent - subclasses will need to set to the source's frameNumber if they don't call FilterBankGenerator::doEvent()
unsigned int	framesProcessed
	subclasses should increment this any time they make a new filter bank available
Static Protected Attributes
static unsigned int	sysFrameNumber = -1U
	the current frame number available from the system - subclasses which receive data directly from the system should set this (and should not use EventGeneratorBase's auto-listen to ensure this is accurate)
Private Member Functions
	FilterBankGenerator (const FilterBankGenerator &fbk)
	don't call
const FilterBankGenerator &	operator= (const FilterBankGenerator &fbk)
	don't call

Constructor & Destructor Documentation

virtual FilterBankGenerator::~FilterBankGenerator ( ) [virtual]

destructor

Your own subclasses should also have destructors which call freeCaches() and destruct(). Otherwise, if you override these functions to delete any custom memory you allocate, those implementations won't be called by this destructor... a destructor ignores virtual functions, only calls at its own class level.
So it really doesn't matter if you aren't allocating any extra memory other than what's in the image cache, but it's still good form just in case you add stuff later so you won't forget and leak memory everywhere

Definition at line 128 of file FilterBankGenerator.h.

FilterBankGenerator::FilterBankGenerator	(	const std::string &	instancename,
		EventBase::EventGeneratorID_t	mgid,
		unsigned int	msid,
		EventBase::EventGeneratorID_t	srcegid,
		unsigned int	srcsrc
	)			`[protected]`

constructor, separate class and instance names, with a raw event specification, excluding type typically for stages which reference the previous stage's data

Definition at line 271 of file FilterBankGenerator.h.

FilterBankGenerator::FilterBankGenerator	(	const std::string &	instancename,
		EventBase::EventGeneratorID_t	mgid,
		unsigned int	msid,
		EventBase::EventGeneratorID_t	srcegid,
		unsigned int	srcsrc,
		EventBase::EventTypeID_t	srcetid
	)			`[protected]`

constructor, separate class and instance names, with a raw event specification, including type typically for stages which will store their own copy of the data

Definition at line 279 of file FilterBankGenerator.h.

FilterBankGenerator::FilterBankGenerator	(	const std::string &	instancename,
		EventBase::EventGeneratorID_t	mgid,
		unsigned int	msid,
		FilterBankGenerator *	fbgsrc
	)			`[protected]`

constructor, separate class and instance names, with a filter bank source, passes on all types typically for stages which reference the previous stage's data

Definition at line 287 of file FilterBankGenerator.h.

FilterBankGenerator::FilterBankGenerator	(	const std::string &	instancename,
		EventBase::EventGeneratorID_t	mgid,
		unsigned int	msid,
		FilterBankGenerator *	fbgsrc,
		EventBase::EventTypeID_t	etid
	)			`[protected]`

constructor, separate class and instance names, with a filter bank source, accepts a particular type typically for stages which will store their own data

Definition at line 298 of file FilterBankGenerator.h.

FilterBankGenerator::FilterBankGenerator ( const FilterBankGenerator & fbk ) [private]

don't call

Member Function Documentation

virtual void FilterBankGenerator::calcImage	(	unsigned int	layer,
		unsigned int	channel
	)			`[protected, pure virtual]`

should calculate new image data, called by getImage() only when imageValids indicates the image being requested is dirty (and only after getImage() has already called createImageCache())

This is where you'll want to put your user-specific code for calculating the image data

Implemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Referenced by getImage().

virtual unsigned char* FilterBankGenerator::createImageCache	(	unsigned int	layer,
		unsigned int	channel
	)			const `[protected, pure virtual]`

create new image data storage area for the cache - this called by getImage() only when the corresponding entry in images is NULL

You should return the pointer you want stored in images to be returned by any calls to getFirstRow. Interpretation of the data it points to is dependant on the the generator which creates it

Implemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Referenced by getImage().

void FilterBankGenerator::destruct ( ) [protected, virtual]

deletes the arrays

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, and RLEGenerator.

Definition at line 139 of file FilterBankGenerator.cc.

Referenced by setNumImages(), ~FilterBankGenerator(), and SegmentedColorGenerator::~SegmentedColorGenerator().

void FilterBankGenerator::doEvent ( ) [virtual]

default implementation does a few common housekeeping chores for you - probably should just take a look at its code

It doesn't throw any events for you - that's probably the main reason you'd still want to override it
Also, if your class has a set number of layers or channels - for instance, always 1 channel like InterleavedYUVGenerator, you should override setNumImages() to enforce that constraint by throwing away the appropriate argument and passing the your own value to the superclass implementation.

Reimplemented from BehaviorBase.

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Definition at line 44 of file FilterBankGenerator.cc.

void FilterBankGenerator::freeCaches ( ) [virtual]

deletes storage of cached images and marks it invalid

you should override this if the images cache pointer isn't actually an array of bytes... Don't forget to call it in your subclass's destructor or your version won't get called...

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, RawCameraGenerator, and RegionGenerator.

Definition at line 27 of file FilterBankGenerator.cc.

Referenced by setDimensions(), setNumImages(), ~FilterBankGenerator(), JPEGGenerator::~JPEGGenerator(), PNGGenerator::~PNGGenerator(), RLEGenerator::~RLEGenerator(), and SegmentedColorGenerator::~SegmentedColorGenerator().

unsigned int FilterBankGenerator::getBinSize ( ) const [virtual]

The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging...

Implements LoadSave.

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Definition at line 59 of file FilterBankGenerator.cc.

Referenced by EventLogger::logImage().

unsigned int FilterBankGenerator::getFrameNumber ( ) const

returns the frame number of the current frame, see frameNumber

Definition at line 171 of file FilterBankGenerator.h.

Referenced by FilterBankEvent::getFrameNumber(), SegCam::openPacket(), RegionCam::openPacket(), RawCam::openPacket(), DepthCam::openPacket(), LogNode::postStart(), refresh(), and LogNode::writeImage().

unsigned int FilterBankGenerator::getFramesProcessed ( ) const

returns the number of frames processed, see framesProcessed

Definition at line 174 of file FilterBankGenerator.h.

Referenced by FilterBankEvent::getFramesProcessed().

unsigned int FilterBankGenerator::getHeight ( unsigned int layer ) const

returns height (in samples) of the image in a given layer

Definition at line 158 of file FilterBankGenerator.h.

Referenced by RLEGenerator::calcExpMaxRuns(), SegmentedColorGenerator::calcImage(), RLEGenerator::calcImage(), RawCameraGenerator::calcImage(), PNGGenerator::calcImage(), JPEGGenerator::calcImage(), InterleavedYUVGenerator::calcImage(), RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), FilterBankEvent::getHeight(), getPixelCoordinates(), getRealCoordinates(), SegCam::openPacket(), RegionCam::openPacket(), RawCam::openPacket(), DepthCam::openPacket(), refresh(), setDimensions(), and Graphics::updateFBG().

unsigned char * FilterBankGenerator::getImage	(	unsigned int	layer,
		unsigned int	channel
	)			`[virtual]`

returns pointer to the beginning of the image data for the specified layer and channel

this will cause the data to be calculated and cached if it's not already available

Definition at line 13 of file FilterBankGenerator.cc.

Referenced by BufferedImageGenerator::calcDx(), BufferedImageGenerator::calcDxDy(), BufferedImageGenerator::calcDy(), SegmentedColorGenerator::calcImage(), RLEGenerator::calcImage(), RegionGenerator::calcImage(), PNGGenerator::calcImage(), JPEGGenerator::calcImage(), InterleavedYUVGenerator::calcImage(), InterleavedYUVGenerator::createImageCache(), CameraBehavior::doEvent(), BufferedImageGenerator::downsampleImage(), FilterBankEvent::getImage(), RLEGenerator::getNumRuns(), getPixel(), RLEGenerator::getRun(), RLEGenerator::getRuns(), PNGGenerator::loadBuffer(), JPEGGenerator::loadBuffer(), RawImage::loadFromRawY(), EventLogger::logImage(), DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::processTrackEvent(), RawCameraGenerator::reconstructImage(), selectSaveImage(), DualCoding::Lookout::storeVisionRegionDataTo(), Graphics::updateFBG(), LGmixin::uploadCameraImage(), RawCameraGenerator::upsampleImage(), BufferedImageGenerator::upsampleImage(), and LogNode::writeImage().

virtual bool FilterBankGenerator::getImageCached	(	unsigned int	layer,
		unsigned int	channel
	)			const `[virtual]`

returns whether or not an image has already been calculated for the current frame

If you call this immediately after getImage() and this still returns false, then an error must have occurred during processing

Definition at line 152 of file FilterBankGenerator.h.

virtual size_t FilterBankGenerator::getImageSize	(	unsigned int	layer,
		unsigned int
	)			const `[virtual]`

returns the number of bytes used for the data returned by getImage() - if the data varies in size (e.g. jpeg compression), will return 0 if the image hasn't been calculated yet (so call it after getImage())

Reimplemented in JPEGGenerator, PNGGenerator, RegionGenerator, and RLEGenerator.

Definition at line 147 of file FilterBankGenerator.h.

Referenced by FilterBankEvent::getImageSize(), and LogNode::writeImage().

unsigned int FilterBankGenerator::getIncrement ( unsigned int layer ) const

returns the increment (in bytes) to use to go from one sample to the next

Definition at line 168 of file FilterBankGenerator.h.

Referenced by BufferedImageGenerator::calcDx(), BufferedImageGenerator::calcDy(), SegmentedColorGenerator::calcImage(), PNGGenerator::calcImage(), JPEGGenerator::calcImage(), InterleavedYUVGenerator::calcImage(), InterleavedYUVGenerator::createImageCache(), BufferedImageGenerator::downsampleImage(), FilterBankEvent::getIncrement(), getPixel(), RawImage::loadFromRawY(), RawCameraGenerator::saveBuffer(), CDTGenerator::saveBuffer(), BufferedImageGenerator::saveBuffer(), RawCameraGenerator::saveFileStream(), BufferedImageGenerator::saveFileStream(), Graphics::updateFBG(), and BufferedImageGenerator::upsampleImage().

virtual unsigned int FilterBankGenerator::getNumChannels ( ) const [virtual]

returns the number of channels per image (e.g. Y, U, or V components)

Definition at line 140 of file FilterBankGenerator.h.

Referenced by FilterBankGenerator(), FilterBankEvent::getNumChannels(), InterleavedYUVGenerator::InterleavedYUVGenerator(), JPEGGenerator::JPEGGenerator(), PNGGenerator::PNGGenerator(), refresh(), RegionGenerator::RegionGenerator(), RLEGenerator::RLEGenerator(), and SegmentedColorGenerator::SegmentedColorGenerator().

virtual unsigned int FilterBankGenerator::getNumLayers ( ) const [virtual]

returns the number of image layers (e.g. different resolutions available)

Definition at line 137 of file FilterBankGenerator.h.

Referenced by FilterBankGenerator(), FilterBankEvent::getNumLayers(), InterleavedYUVGenerator::InterleavedYUVGenerator(), JPEGGenerator::JPEGGenerator(), PNGGenerator::PNGGenerator(), refresh(), RegionGenerator::RegionGenerator(), RLEGenerator::RLEGenerator(), SegmentedColorGenerator::SegmentedColorGenerator(), RawCam::writeColor(), DepthCam::writeDepth(), RegionCam::writeRegions(), SegCam::writeRLE(), SegCam::writeSeg(), and RawCam::writeSingleChannel().

unsigned char* FilterBankGenerator::getPixel	(	float	x,
		float	y,
		unsigned int	layer,
		unsigned int	channel
	)

returns a pointer to a particular sample; if you are using this in an inner loop, consider using the getSkip() and getIncrement() values to iterate with better performance

Parameters:

	x	the horizontal position, relative to center of the image, left edge is -1 and right edge is 1; no boundary checking is done
	y	the vertical pixel position, relative to center of the image, top edge is the negative aspect ratio, bottom edge is positive aspect ratio; no boundary checking is done
	layer	the resolution layer to extract from
	channel	the image channel to extract from

To keep the coordinate system square, the x is defined to range -1,1, but y's range depends on the aspect ratio of the image, height/width. Thus typically y will approx. -.75,.75

Definition at line 191 of file FilterBankGenerator.h.

unsigned char* FilterBankGenerator::getPixel	(	unsigned int	px,
		unsigned int	py,
		unsigned int	layer,
		unsigned int	channel
	)

returns a pointer to a particular sample; if you are using this in an inner loop, consider using the getSkip() and getIncrement() values to iterate with better performance

Parameters:

	px	the horizontal pizel position, relative to left edge; no boundary checking is done, ranges 0 through width-1
	py	the vertical pixel position, relative to top edge; no boundary checking is done, ranges 0 through height-1
	layer	the resolution layer to extract from
	channel	the image channel to extract from

Definition at line 181 of file FilterBankGenerator.h.

Referenced by getPixel().

void FilterBankGenerator::getPixelCoordinates	(	unsigned int &	px,
		unsigned int &	py,
		float	x,
		float	y,
		unsigned int	layer
	)			const

sets the pixel-coordinate px and py parameters to the corresponding value of x and y

Parameters:

`[out]`	px	the pixel position, relative to left edge, positive right, ranges 0 through width-1
`[out]`	py	the pixel position, relative to top edge, positive down, ranges 0 through height-1
`[in]`	x	the horizontal position, relative to center of the image, left edge is -1 and right edge is 1; no boundary checking is done
`[in]`	y	the vertical pixel position, relative to center of the image, top edge is the negative aspect ratio, bottom edge is positive aspect ratio; no boundary checking is done
`[in]`	layer	the resolution layer the pixel coordinates are relative to

To keep the coordinate system square, the x is defined to range -1,1, but y's range depends on the aspect ratio of the image, height/width. Thus typically y will approx. -.75,.75

Definition at line 206 of file FilterBankGenerator.h.

Referenced by getPixel(), and Graphics::getPixelCoordinates().

void FilterBankGenerator::getRealCoordinates	(	float &	x,
		float &	y,
		unsigned int	px,
		unsigned int	py,
		unsigned int	layer
	)			const

sets the x and y parameters from the pixel-coordinates px and py

Parameters:

`[out]`	x	the horizontal position, relative to center of the image, left edge is -1 and right edge is 1; no boundary checking is done
`[out]`	y	the vertical pixel position, relative to center of the image, top edge is the negative aspect ratio, bottom edge is positive aspect ratio; no boundary checking is done
`[in]`	px	the pixel position, relative to left edge, positive right, ranges 0 through width-1
`[in]`	py	the pixel position, relative to top edge, positive down, ranges 0 through height-1
`[in]`	layer	the resolution layer the pixel coordinates are relative to

To keep the coordinate system square, the x is defined to range -1,1, but y's range depends on the aspect ratio of the image, height/width. Thus typically y will approx. -.75,.75

Definition at line 222 of file FilterBankGenerator.h.

Referenced by Graphics::getRealCoordinates().

virtual unsigned int FilterBankGenerator::getSelectedSaveChannel ( ) const [virtual]

returns channel to be saved, or channel of last image loaded

Definition at line 264 of file FilterBankGenerator.h.

virtual unsigned int FilterBankGenerator::getSelectedSaveLayer ( ) const [virtual]

returns layer to be saved, or layer of last image loaded

Definition at line 263 of file FilterBankGenerator.h.

unsigned int FilterBankGenerator::getSkip ( unsigned int layer ) const

returns the bytes to skip from the one-past-end of a row to get the beginning of the next

Definition at line 161 of file FilterBankGenerator.h.

Referenced by BufferedImageGenerator::calcDx(), InterleavedYUVGenerator::calcImage(), FilterBankEvent::getSkip(), RawImage::loadFromRawY(), RawCameraGenerator::reconstructImage(), RawCameraGenerator::saveBuffer(), CDTGenerator::saveBuffer(), BufferedImageGenerator::saveBuffer(), RawCameraGenerator::saveFileStream(), BufferedImageGenerator::saveFileStream(), RawCameraGenerator::upsampleImage(), and BufferedImageGenerator::upsampleImage().

virtual const FilterBankGenerator* FilterBankGenerator::getSourceGenerator ( ) const [virtual]

returns the generator this is receiving its events from (or the last one anyway)

Definition at line 134 of file FilterBankGenerator.h.

Referenced by RegionGenerator::RegionGenerator(), RegionCam::writeRegions(), and SegCam::writeRLE().

unsigned int FilterBankGenerator::getStride ( unsigned int layer ) const

returns the bytes to skip from the beginning of one row to get the beginning of the next

This is just for convenience; the stride is just the skip plus the width, but it's precomputed for you for speed and clarity

Definition at line 165 of file FilterBankGenerator.h.

Referenced by BufferedImageGenerator::calcDx(), BufferedImageGenerator::calcDy(), SegmentedColorGenerator::calcImage(), RawCameraGenerator::calcImage(), InterleavedYUVGenerator::createImageCache(), getPixel(), FilterBankEvent::getStride(), RawCameraGenerator::saveBuffer(), BufferedImageGenerator::saveBuffer(), RawCameraGenerator::saveFileStream(), BufferedImageGenerator::saveFileStream(), and Graphics::updateFBG().

unsigned int FilterBankGenerator::getWidth ( unsigned int layer ) const

returns width (in samples) of the image in a given layer

Definition at line 155 of file FilterBankGenerator.h.

Referenced by RLEGenerator::calcExpMaxRuns(), SegmentedColorGenerator::calcImage(), RLEGenerator::calcImage(), PNGGenerator::calcImage(), JPEGGenerator::calcImage(), InterleavedYUVGenerator::calcImage(), RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), getPixelCoordinates(), getRealCoordinates(), FilterBankEvent::getWidth(), RLEGenerator::loadBuffer(), SegCam::openPacket(), RegionCam::openPacket(), RawCam::openPacket(), DepthCam::openPacket(), RawCameraGenerator::reconstructImage(), refresh(), setDimensions(), and Graphics::updateFBG().

void FilterBankGenerator::invalidateCaches ( ) [virtual]

marks all of the cached images as invalid (but doesn't free their memory)

You probably want to call this right before you send the FilterBankEvent

Reimplemented in BufferedImageGenerator, and InterleavedYUVGenerator.

Definition at line 37 of file FilterBankGenerator.cc.

Referenced by RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), freeCaches(), refresh(), and JPEGGenerator::setQuality().

unsigned int FilterBankGenerator::loadBuffer	(	const char	buf[],
		unsigned int	len,
		const char *	filename = `NULL`
	)			`[virtual]`

The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging...

Implements LoadSave.

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Definition at line 70 of file FilterBankGenerator.cc.

Referenced by SegmentedColorGenerator::loadBuffer(), RLEGenerator::loadBuffer(), RegionGenerator::loadBuffer(), RawCameraGenerator::loadBuffer(), PNGGenerator::loadBuffer(), JPEGGenerator::loadBuffer(), InterleavedYUVGenerator::loadBuffer(), and BufferedImageGenerator::loadBuffer().

const FilterBankGenerator& FilterBankGenerator::operator= ( const FilterBankGenerator & fbk ) [private]

don't call

bool FilterBankGenerator::refresh ( ) [protected, virtual]

updates the image data to make sure its up to date with what's available from the source

If someone calls getImage on a stage which hadn't been listening for events (an optimization to save time when it doesn't have any listeners of its own -- see EventGeneratorBase), then this will retroactively pull image data from the source even though the event for it was missed

Returns:: false if no image data is available yet, true otherwise

Definition at line 161 of file FilterBankGenerator.cc.

Referenced by doEvent(), getImage(), and refresh().

unsigned int FilterBankGenerator::saveBuffer	(	char	buf[],
		unsigned int	len
	)			const `[virtual]`

The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging...

Implements LoadSave.

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Definition at line 80 of file FilterBankGenerator.cc.

Referenced by EventLogger::logImage(), SegmentedColorGenerator::saveBuffer(), RLEGenerator::saveBuffer(), RegionGenerator::saveBuffer(), RawCameraGenerator::saveBuffer(), PNGGenerator::saveBuffer(), JPEGGenerator::saveBuffer(), InterleavedYUVGenerator::saveBuffer(), CDTGenerator::saveBuffer(), BufferedImageGenerator::saveBuffer(), RawCam::writeColor(), DepthCam::writeDepth(), SegCam::writeSeg(), and RawCam::writeSingleChannel().

virtual void FilterBankGenerator::selectSaveImage	(	unsigned int	layer,
		unsigned int	channel
	)			`[virtual]`

Not actually part of the LoadSave interface, but allows you to select which image of the bank will be saved.

Calling this will also cause the image data for that image to be calculated, otherwise saveBuffer won't have up-to-date data to save.

When loading, the saved image's layer and channel will reset this

Definition at line 261 of file FilterBankGenerator.h.

Referenced by CameraBehavior::doEvent(), EventLogger::logImage(), RawCam::writeColor(), DepthCam::writeDepth(), RegionCam::writeRegions(), SegCam::writeRLE(), SegCam::writeSeg(), and RawCam::writeSingleChannel().

void FilterBankGenerator::setDimensions ( ) [protected, virtual]

resets width and height parameters to that of the src

You'll probably want to override this to also set skips and strides

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, RawCameraGenerator, RLEGenerator, and SegmentedColorGenerator.

Definition at line 128 of file FilterBankGenerator.cc.

Referenced by refresh().

void FilterBankGenerator::setNumImages	(	unsigned int	nLayers,
		unsigned int	nChannels
	)			`[protected, virtual]`

resizes the filter bank information storage area, you should override this to do your setup and call it from your constructor

In general, it isn't expected that FilterBankGenerator's should necessarily be dynamically resizeable (although it would be nice), which is why this isn't public. If yours is, just add some pubic accessor functions which call this. In general, the included subclasses should be able to handle being resized, but there's no reason to do so since the system won't be changing its available resolutions at run time.

The default implementation is a no-op if(numLayers==nLayers && numChannels==nChannels)

Reimplemented in BufferedImageGenerator, CDTGenerator, InterleavedYUVGenerator, JPEGGenerator, PNGGenerator, RawCameraGenerator, RegionGenerator, RLEGenerator, and SegmentedColorGenerator.

Definition at line 91 of file FilterBankGenerator.cc.

Referenced by FilterBankGenerator(), and refresh().

Member Data Documentation

unsigned int FilterBankGenerator::frameNumber [protected]

the frame number of last frame received by doEvent - subclasses will need to set to the source's frameNumber if they don't call FilterBankGenerator::doEvent()

The idea is to use this as a unique serial number for each frame. That way you can know if the current image in different generators is actually the same camera image before you try to compare or combine them.

You could also figure out the number of dropped frames by subtracting framesProcessed from this value. Give some leeway however, because it takes the first 40-70 frames just to boot up (when running on the aibo), so there's no way they can be processed.

Definition at line 378 of file FilterBankGenerator.h.

Referenced by RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), getFrameNumber(), and refresh().

unsigned int FilterBankGenerator::framesProcessed [protected]

subclasses should increment this any time they make a new filter bank available

this is automatically incremented if you use the FilterBankGenerator::doEvent()

Definition at line 385 of file FilterBankGenerator.h.

Referenced by RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), getFramesProcessed(), and refresh().

unsigned int* FilterBankGenerator::heights [protected]

an array of size numLayers, height (in samples) in pixels of each layer

Definition at line 355 of file FilterBankGenerator.h.

unsigned char*** FilterBankGenerator::images [mutable, protected]

an array [numLayers][numChannels], stores pointer to cached image data

Definition at line 360 of file FilterBankGenerator.h.

bool** FilterBankGenerator::imageValids [mutable, protected]

an array [numLayers][numChannels], entry is true if cached data is still valid

Definition at line 361 of file FilterBankGenerator.h.

unsigned int* FilterBankGenerator::increments [protected]

an array of size numLayers, increment (in bytes) to use to get from one sample to the next

Definition at line 358 of file FilterBankGenerator.h.

Referenced by destruct(), BufferedImageGenerator::doEvent(), getIncrement(), RawCameraGenerator::setDimensions(), CDTGenerator::setDimensions(), BufferedImageGenerator::setDimensions(), RawCameraGenerator::setNumImages(), PNGGenerator::setNumImages(), JPEGGenerator::setNumImages(), InterleavedYUVGenerator::setNumImages(), setNumImages(), and CDTGenerator::setNumImages().

unsigned int FilterBankGenerator::numChannels [protected]

current number of channels available

Definition at line 352 of file FilterBankGenerator.h.

Referenced by destruct(), RegionGenerator::freeCaches(), RawCameraGenerator::freeCaches(), InterleavedYUVGenerator::freeCaches(), freeCaches(), CDTGenerator::freeCaches(), BufferedImageGenerator::freeCaches(), getNumChannels(), InterleavedYUVGenerator::InterleavedYUVGenerator(), InterleavedYUVGenerator::invalidateCaches(), invalidateCaches(), BufferedImageGenerator::invalidateCaches(), JPEGGenerator::JPEGGenerator(), PNGGenerator::PNGGenerator(), refresh(), RegionGenerator::RegionGenerator(), RLEGenerator::RLEGenerator(), SegmentedColorGenerator::SegmentedColorGenerator(), RLEGenerator::setNumImages(), RegionGenerator::setNumImages(), RawCameraGenerator::setNumImages(), PNGGenerator::setNumImages(), JPEGGenerator::setNumImages(), InterleavedYUVGenerator::setNumImages(), setNumImages(), CDTGenerator::setNumImages(), and BufferedImageGenerator::setNumImages().

unsigned int FilterBankGenerator::numLayers [protected]

current number of layers available

Definition at line 351 of file FilterBankGenerator.h.

unsigned int FilterBankGenerator::selectedSaveChannel [protected]

channel to be manipulated with the LoadSave functions

Definition at line 364 of file FilterBankGenerator.h.

Referenced by RLEGenerator::getBinSize(), RegionGenerator::getBinSize(), PNGGenerator::getBinSize(), JPEGGenerator::getBinSize(), getBinSize(), getSelectedSaveChannel(), SegmentedColorGenerator::loadBuffer(), RLEGenerator::loadBuffer(), RegionGenerator::loadBuffer(), RawCameraGenerator::loadBuffer(), PNGGenerator::loadBuffer(), JPEGGenerator::loadBuffer(), InterleavedYUVGenerator::loadBuffer(), loadBuffer(), BufferedImageGenerator::loadBuffer(), SegmentedColorGenerator::saveBuffer(), RLEGenerator::saveBuffer(), RegionGenerator::saveBuffer(), RawCameraGenerator::saveBuffer(), PNGGenerator::saveBuffer(), JPEGGenerator::saveBuffer(), InterleavedYUVGenerator::saveBuffer(), saveBuffer(), CDTGenerator::saveBuffer(), BufferedImageGenerator::saveBuffer(), RawCameraGenerator::saveFileStream(), BufferedImageGenerator::saveFileStream(), and selectSaveImage().

unsigned int FilterBankGenerator::selectedSaveLayer [protected]

layer to be manipulated with the LoadSave functions

Definition at line 363 of file FilterBankGenerator.h.

Referenced by SegmentedColorGenerator::getBinSize(), RLEGenerator::getBinSize(), RegionGenerator::getBinSize(), RawCameraGenerator::getBinSize(), PNGGenerator::getBinSize(), JPEGGenerator::getBinSize(), InterleavedYUVGenerator::getBinSize(), getBinSize(), CDTGenerator::getBinSize(), BufferedImageGenerator::getBinSize(), getSelectedSaveLayer(), SegmentedColorGenerator::loadBuffer(), RLEGenerator::loadBuffer(), RegionGenerator::loadBuffer(), RawCameraGenerator::loadBuffer(), PNGGenerator::loadBuffer(), JPEGGenerator::loadBuffer(), InterleavedYUVGenerator::loadBuffer(), loadBuffer(), BufferedImageGenerator::loadBuffer(), SegmentedColorGenerator::saveBuffer(), RLEGenerator::saveBuffer(), RegionGenerator::saveBuffer(), RawCameraGenerator::saveBuffer(), PNGGenerator::saveBuffer(), JPEGGenerator::saveBuffer(), InterleavedYUVGenerator::saveBuffer(), saveBuffer(), CDTGenerator::saveBuffer(), BufferedImageGenerator::saveBuffer(), RawCameraGenerator::saveFileStream(), BufferedImageGenerator::saveFileStream(), and selectSaveImage().

unsigned int* FilterBankGenerator::skips [protected]

an array of size numLayers, skip (in bytes) from row end to next row begin

Definition at line 356 of file FilterBankGenerator.h.

Referenced by destruct(), RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), getSkip(), RawCameraGenerator::setDimensions(), CDTGenerator::setDimensions(), BufferedImageGenerator::setDimensions(), PNGGenerator::setNumImages(), JPEGGenerator::setNumImages(), and setNumImages().

FilterBankGenerator* FilterBankGenerator::src [protected]

the generator of the last FilterBankEvent received

Definition at line 349 of file FilterBankGenerator.h.

Referenced by SegmentedColorGenerator::calcImage(), RLEGenerator::calcImage(), PNGGenerator::calcImage(), JPEGGenerator::calcImage(), InterleavedYUVGenerator::calcImage(), InterleavedYUVGenerator::createImageCache(), RegionGenerator::doEvent(), PNGGenerator::doEvent(), JPEGGenerator::doEvent(), doEvent(), FilterBankGenerator(), getSourceGenerator(), JPEGGenerator::JPEGGenerator(), PNGGenerator::PNGGenerator(), refresh(), and setDimensions().

unsigned int* FilterBankGenerator::strides [protected]

an array of size numLayers, stride (in bytes) from a given column in one row to the same column in the next row

Definition at line 357 of file FilterBankGenerator.h.

Referenced by destruct(), RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), BufferedImageGenerator::downsampleImage(), getStride(), SegmentedColorGenerator::setDimensions(), RawCameraGenerator::setDimensions(), InterleavedYUVGenerator::setDimensions(), CDTGenerator::setDimensions(), BufferedImageGenerator::setDimensions(), PNGGenerator::setNumImages(), JPEGGenerator::setNumImages(), and setNumImages().

unsigned int FilterBankGenerator::sysFrameNumber = -1U [static, protected]

the current frame number available from the system - subclasses which receive data directly from the system should set this (and should not use EventGeneratorBase's auto-listen to ensure this is accurate)

Definition at line 381 of file FilterBankGenerator.h.

Referenced by RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), and refresh().

unsigned int* FilterBankGenerator::widths [protected]

an array of size numLayers, width (in samples) in pixels of each layer

Definition at line 354 of file FilterBankGenerator.h.

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

FilterBankGenerator Class Reference

Detailed Description

Serialization Format

Adding New FilterBankGenerator Subclasses

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation