VisionObjectEvent Class Reference

Extends EventBase to also include location in the visual field and distance (though distance is not implimented yet). More...

#include <VisionObjectEvent.h>

Inheritance diagram for VisionObjectEvent:

[legend]

Detailed Description

Extends EventBase to also include location in the visual field and distance (though distance is not implimented yet).

Definition at line 8 of file VisionObjectEvent.h.

List of all members.

Public Member Functions
	VisionObjectEvent (size_t sid=0, EventTypeID_t tid=EventBase::deactivateETID)
	Constructor, pass a source id and type id -- mainly useful for deactivate events since all object parameters are going to be set to 0.
	VisionObjectEvent (size_t sid, EventTypeID_t tid, float x1, float x2, float y1, float y2, float objarea, float rx, float ry)
	Constructor, pass the type id, source id, left, right, top, bottom, x range, and y range.
	VisionObjectEvent (size_t sid, EventTypeID_t tid, float x1, float x2, float y1, float y2, float objarea, float rx, float ry, unsigned int frame)
	Constructor, pass the type id, source id, left, right, top, bottom, x range, y range, and frame_number.
virtual	~VisionObjectEvent ()
	destructor
virtual EventBase *	clone () const
	allows a copy to be made of an event, supporting polymorphism
virtual unsigned int	getClassTypeID () const
	All subclasses should override this and return a unique ID for their class.
virtual std::string	getDescription (bool showTypeSpecific=true, unsigned int verbosity=0) const
	generates a description of the event with variable verbosity
virtual unsigned int	getBinSize () const
	should return the minimum size needed if using binary format (i.e. not XML)
virtual unsigned int	loadBinaryBuffer (const char buf[], unsigned int len)
	load from binary format
virtual unsigned int	saveBinaryBuffer (char buf[], unsigned int len) const
	save to binary format
virtual void	loadXML (xmlNode *node)
	load from XML format
virtual void	saveXML (xmlNode *node) const
	save to XML format
Attribute Accessors

float	getLeft () const
	returns the initial x (_x1) coordinate of the Bounding Box (inclusive value)
VisionObjectEvent &	setLeft (float x1)
	sets the initial x (_x1) coordinate of the Bounding Box
float	getRight () const
	returns the final x (_x2) coordinate of the Bounding Box (inclusive value)
VisionObjectEvent &	setRight (float x2)
	sets the final x (_x2) coordinate of the Bounding Box
float	getTop () const
	returns the initial y (_y1) coordinate of the Bounding Box (inclusive value)
VisionObjectEvent &	setTop (float y1)
	sets the initial y (_y1) coordinate of the Bounding Box
float	getBottom () const
	returns the final y (_y2) coordinate of the Bounding Box (inclusive value)
VisionObjectEvent &	setBottom (float y2)
	sets the final y (_y2) coordinate of the Bounding Box
float	getObjectArea () const
	returns the object's _area within the camera, in squared generalized coordinates. Multiply by the square of the major camera resolution (normally RobotInfo::CameraResolutionX if using full resolution) and divide by 4.0 to get pixel area.
VisionObjectEvent &	setObjectArea (float objarea)
	sets the object's _area within the camera, in squared generalized coordinates (multiply by the major camera resolution to get pixel area)
Object out of bounds Detection Functions

bool	isClipped () const
	returns _clipLeft
bool	isClippedLeft () const
	returns _clipLeft
bool	isClippedRight () const
	returns _clipRight
bool	isClippedTop () const
	returns _clipTop
bool	isClippedBottom () const
	returns _clipBottom
void	setClipping (bool left, bool right, bool top, bool bottom)
	sets clipping boundaries
Protected Attributes
float	_x1
	a value representing location in visual field - from -1 if on the left edge to 1 if it's on the right edge, see Config::vision_config::x_range
float	_x2
	a value representing location in visual field - from -1 if on the left edge to 1 if it's on the right edge, see Config::vision_config::x_range
float	_y1
	top boundary, in range of ±1/Configvision_config::aspectRatio, see Config::vision_config::y_range
float	_y2
	bottom boundary, in range of ±1/Configvision_config::aspectRatio, see Config::vision_config::y_range
float	_area
	area of the actual object within bounding box as set by generator, in same units as getBoundaryArea(). Multiply by the square of the major camera resolution (normally RobotInfo::CameraResolutionX if using full resolution) and divide by 4.0 to get pixel area.
bool	_clipLeft
	flag to indicate left boundary is on or beyond the camera image's boundary
bool	_clipRight
	flag to indicate right boundary is on or beyond the camera image's boundary
bool	_clipTop
	flag to indicate top boundary is on or beyond the camera image's boundary
bool	_clipBottom
	flag to indicate bottom boundary is on or beyond the camera image's boundary
float	_xRange
	Max range of X dimension (typically 1.0 for AIBO).
float	_yRange
	Max range of Y dimension (typically around 0.8 for AIBO due to camera aspect ratio).
unsigned int	_frame
	Number of frame when the event was generated.
Static Protected Attributes
static const EventBase::classTypeID_t	autoRegisterVisionObjectEvent = getTypeRegistry().registerType<VisionObjectEvent>(makeClassTypeID("VISO"))
	causes class type id to automatically be regsitered with EventBase's FamilyFactory (getTypeRegistry())
Calculated Attributes

float	getDistanceEstimate (float diaMajor, float diaMinor=0) const
	returns an estimate of how far away the object is if its major (larger) physical dimension is diaMajor and the other dimension is diaMinor; pass 0 if to only use the major dimension
float	getCenterX () const
	returns the center along x
float	getCenterY () const
	returns the center along y
float	getWidth () const
	return width along x
float	getHeight () const
	return height along y
float	getBoundaryArea () const
	returns the area of the bounding box, just multiplication of width*height, (multiply by the major camera resolution to get pixel area)
float	getXrange () const
	returns the maximum x value
float	getYrange () const
	returns the maximum y value
unsigned int	getFrame () const
	returns number of frame when the event was generated
static float	calcDistance (float visArc, float physDia)
	returns the distance of an object, given that it takes up visArc of the camera's visual arc, and the physical crossection is physDia

Constructor & Destructor Documentation

VisionObjectEvent::VisionObjectEvent	(	size_t	sid = `0`,
		EventTypeID_t	tid = `EventBase::deactivateETID`
	)			`[explicit]`

Constructor, pass a source id and type id -- mainly useful for deactivate events since all object parameters are going to be set to 0.

Parameters:

	sid	The source ID for the object being detected -- you can define your own values, some are already set in ProjectInterface, but can be reassigned during your project's startup
	tid	The type ID for the event

Definition at line 14 of file VisionObjectEvent.h.

Referenced by clone().

VisionObjectEvent::VisionObjectEvent	(	size_t	sid,
		EventTypeID_t	tid,
		float	x1,
		float	x2,
		float	y1,
		float	y2,
		float	objarea,
		float	rx,
		float	ry
	)

Constructor, pass the type id, source id, left, right, top, bottom, x range, and y range.

Parameters:

	sid	The source ID for the object being detected -- you can define your own values, some are already set in ProjectInterface, but can be reassigned during your project's startup
	tid	The type ID for the event
	x1	The leftmost extent of the object, in generalized coordinates (see _x1)
	x2	The rightmost extent of the object in generalized coordinates (see _x2)
	y1	The topmost extent of the object, in generalized coordinates (see _y1)
	y2	The bottommost extent of the object, in generalized coordinates (see _y2)
	objarea	The area of the object being detected, in squared generalized coordinates (see _area)
	rx	The plus/minus range of the x coordinates (generally xres/xres for cameras which are wider than they are high)
	ry	The plus/minus range of the y coordinates (camera yres/xres for cameras which are wider than they are high)

Definition at line 32 of file VisionObjectEvent.h.

VisionObjectEvent::VisionObjectEvent	(	size_t	sid,
		EventTypeID_t	tid,
		float	x1,
		float	x2,
		float	y1,
		float	y2,
		float	objarea,
		float	rx,
		float	ry,
		unsigned int	frame
	)

Constructor, pass the type id, source id, left, right, top, bottom, x range, y range, and frame_number.

Parameters:

	sid	The source ID for the object being detected -- you can define your own values, some are already set in ProjectInterface, but can be reassigned during your project's startup
	tid	The type ID for the event
	x1	The leftmost extent of the object, in generalized coordinates (see _x1)
	x2	The rightmost extent of the object in generalized coordinates (see _x2)
	y1	The topmost extent of the object, in generalized coordinates (see _y1)
	y2	The bottommost extent of the object, in generalized coordinates (see _y2)
	objarea	The area of the object being detected, in squared generalized coordinates (see _area)
	rx	The plus/minus range of the x coordinates (generally xres/xres for cameras which are wider than they are high)
	ry	The plus/minus range of the y coordinates (camera yres/xres for cameras which are wider than they are high)
	frame	The camera frame number the object was detected in (see _frame)

Definition at line 51 of file VisionObjectEvent.h.

virtual VisionObjectEvent::~VisionObjectEvent ( ) [virtual]

destructor

Definition at line 59 of file VisionObjectEvent.h.

Member Function Documentation

float VisionObjectEvent::calcDistance	(	float	visArc,
		float	physDia
	)			`[static]`

returns the distance of an object, given that it takes up visArc of the camera's visual arc, and the physical crossection is physDia

Definition at line 44 of file VisionObjectEvent.cc.

Referenced by getDistanceEstimate().

virtual EventBase* VisionObjectEvent::clone ( ) const [virtual]

allows a copy to be made of an event, supporting polymorphism

Must be overridden by all subclasses to allow this to happen

I would like to switch this over to the cloneable interface once the compiler gets updated out of the 3.3 branch... see Cloneable::clone() for a discussion of the issue and implementation notes.

Reimplemented from EventBase.

Definition at line 61 of file VisionObjectEvent.h.

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

should return the minimum size needed if using binary format (i.e. not XML)

Reimplemented from EventBase.

Definition at line 52 of file VisionObjectEvent.cc.

float VisionObjectEvent::getBottom ( ) const

returns the final y (_y2) coordinate of the Bounding Box (inclusive value)

Definition at line 75 of file VisionObjectEvent.h.

float VisionObjectEvent::getBoundaryArea ( ) const

returns the area of the bounding box, just multiplication of width*height, (multiply by the major camera resolution to get pixel area)

Definition at line 89 of file VisionObjectEvent.h.

float VisionObjectEvent::getCenterX ( ) const

returns the center along x

Definition at line 85 of file VisionObjectEvent.h.

Referenced by VisualTargetCloseTrans::doEvent(), DualCoding::Lookout::findLocationFor(), and Kinematics::projectToGround().

float VisionObjectEvent::getCenterY ( ) const

returns the center along y

Definition at line 86 of file VisionObjectEvent.h.

Referenced by VisualTargetCloseTrans::doEvent(), DualCoding::Lookout::findLocationFor(), and Kinematics::projectToGround().

virtual unsigned int VisionObjectEvent::getClassTypeID ( ) const [virtual]

All subclasses should override this and return a unique ID for their class.

All IDs corresponding to all-capital letters are reserved for future framework expansion. (Thus, user subclasses should contain at least one lower-case letter.) This code can be used when serializing to allow quick identification of the class type by the receiver.

Reimplemented from EventBase.

Definition at line 63 of file VisionObjectEvent.h.

std::string VisionObjectEvent::getDescription	(	bool	showTypeSpecific = `true`,
		unsigned int	verbosity = `0`
	)			const `[virtual]`

generates a description of the event with variable verbosity

Parameters:

showTypeSpecific

should be read by subclasses to add additional information

verbosity

can be one of the following values:

0 - Basic: event_name \t generator_id \t source_id \t type_id
1 - Numerics: event_name \t generator_id \t source_id \t type_id
2 - Timing: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp
3 and above - Full: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp \t magnitude if showTypeSpecific, additional fields will be added after the common fields listed above.

Reimplemented from EventBase.

Definition at line 10 of file VisionObjectEvent.cc.

float VisionObjectEvent::getDistanceEstimate	(	float	diaMajor,
		float	diaMinor = `0`
	)			const

returns an estimate of how far away the object is if its major (larger) physical dimension is diaMajor and the other dimension is diaMinor; pass 0 if to only use the major dimension

Definition at line 19 of file VisionObjectEvent.cc.

unsigned int VisionObjectEvent::getFrame ( ) const

returns number of frame when the event was generated

Definition at line 92 of file VisionObjectEvent.h.

float VisionObjectEvent::getHeight ( ) const

return height along y

Definition at line 88 of file VisionObjectEvent.h.

Referenced by getDistanceEstimate().

float VisionObjectEvent::getLeft ( ) const

returns the initial x (_x1) coordinate of the Bounding Box (inclusive value)

Definition at line 66 of file VisionObjectEvent.h.

float VisionObjectEvent::getObjectArea ( ) const

returns the object's _area within the camera, in squared generalized coordinates. Multiply by the square of the major camera resolution (normally RobotInfo::CameraResolutionX if using full resolution) and divide by 4.0 to get pixel area.

Definition at line 78 of file VisionObjectEvent.h.

float VisionObjectEvent::getRight ( ) const

returns the final x (_x2) coordinate of the Bounding Box (inclusive value)

Definition at line 69 of file VisionObjectEvent.h.

float VisionObjectEvent::getTop ( ) const

returns the initial y (_y1) coordinate of the Bounding Box (inclusive value)

Definition at line 72 of file VisionObjectEvent.h.

float VisionObjectEvent::getWidth ( ) const

return width along x

Definition at line 87 of file VisionObjectEvent.h.

Referenced by getDistanceEstimate().

float VisionObjectEvent::getXrange ( ) const

returns the maximum x value

Definition at line 90 of file VisionObjectEvent.h.

float VisionObjectEvent::getYrange ( ) const

returns the maximum y value

Definition at line 91 of file VisionObjectEvent.h.

bool VisionObjectEvent::isClipped ( ) const

returns _clipLeft

Definition at line 96 of file VisionObjectEvent.h.

bool VisionObjectEvent::isClippedBottom ( ) const

returns _clipBottom

Definition at line 100 of file VisionObjectEvent.h.

Referenced by isClipped().

bool VisionObjectEvent::isClippedLeft ( ) const

returns _clipLeft

Definition at line 97 of file VisionObjectEvent.h.

Referenced by isClipped().

bool VisionObjectEvent::isClippedRight ( ) const

returns _clipRight

Definition at line 98 of file VisionObjectEvent.h.

Referenced by isClipped().

bool VisionObjectEvent::isClippedTop ( ) const

returns _clipTop

Definition at line 99 of file VisionObjectEvent.h.

Referenced by isClipped().

unsigned int VisionObjectEvent::loadBinaryBuffer	(	const char	buf[],
		unsigned int	len
	)			`[virtual]`

load from binary format

Reimplemented from EventBase.

Definition at line 66 of file VisionObjectEvent.cc.

void VisionObjectEvent::loadXML ( xmlNode * node ) [virtual]

load from XML format

Reimplemented from EventBase.

Definition at line 89 of file VisionObjectEvent.cc.

unsigned int VisionObjectEvent::saveBinaryBuffer	(	char	buf[],
		unsigned int	len
	)			const `[virtual]`

save to binary format

Reimplemented from EventBase.

Definition at line 78 of file VisionObjectEvent.cc.

void VisionObjectEvent::saveXML ( xmlNode * node ) const [virtual]

save to XML format

Reimplemented from EventBase.

Definition at line 140 of file VisionObjectEvent.cc.

VisionObjectEvent& VisionObjectEvent::setBottom ( float y2 )

sets the final y (_y2) coordinate of the Bounding Box

Definition at line 76 of file VisionObjectEvent.h.

void VisionObjectEvent::setClipping	(	bool	left,
		bool	right,
		bool	top,
		bool	bottom
	)

sets clipping boundaries

Definition at line 101 of file VisionObjectEvent.h.

VisionObjectEvent& VisionObjectEvent::setLeft ( float x1 )

sets the initial x (_x1) coordinate of the Bounding Box

Definition at line 67 of file VisionObjectEvent.h.

VisionObjectEvent& VisionObjectEvent::setObjectArea ( float objarea )

sets the object's _area within the camera, in squared generalized coordinates (multiply by the major camera resolution to get pixel area)

Definition at line 79 of file VisionObjectEvent.h.

VisionObjectEvent& VisionObjectEvent::setRight ( float x2 )

sets the final x (_x2) coordinate of the Bounding Box

Definition at line 70 of file VisionObjectEvent.h.

VisionObjectEvent& VisionObjectEvent::setTop ( float y1 )

sets the initial y (_y1) coordinate of the Bounding Box

Definition at line 73 of file VisionObjectEvent.h.

Member Data Documentation

float VisionObjectEvent::_area [protected]

area of the actual object within bounding box as set by generator, in same units as getBoundaryArea(). Multiply by the square of the major camera resolution (normally RobotInfo::CameraResolutionX if using full resolution) and divide by 4.0 to get pixel area.

Definition at line 117 of file VisionObjectEvent.h.

Referenced by getObjectArea(), and setObjectArea().

bool VisionObjectEvent::_clipBottom [protected]

flag to indicate bottom boundary is on or beyond the camera image's boundary

Definition at line 121 of file VisionObjectEvent.h.

Referenced by isClippedBottom(), loadXML(), saveXML(), and setClipping().

bool VisionObjectEvent::_clipLeft [protected]

flag to indicate left boundary is on or beyond the camera image's boundary

Definition at line 118 of file VisionObjectEvent.h.

Referenced by isClippedLeft(), loadXML(), saveXML(), and setClipping().

bool VisionObjectEvent::_clipRight [protected]

flag to indicate right boundary is on or beyond the camera image's boundary