MapBuilder Class Reference

#include <MapBuilder.h>

Inheritance diagram for MapBuilder:

Detailed Description

Definition at line 32 of file MapBuilder.h.

Public Types
typedef unsigned int	MapBuilderVerbosity_t
Public Member Functions
	MapBuilder ()
	Constructor.
virtual	~MapBuilder ()
	Destructor.
virtual void	preStart ()
virtual void	stop ()
virtual std::string	getDescription () const
void	printShS (ShapeSpace &) const
unsigned int	executeRequest (const MapBuilderRequest &, unsigned int *req_id=NULL)
	Execute a MapBuilder request, and optionally store the request id in a variable; the id will be returned in any case.
void	executeRequest (BehaviorBase *requestingBehavior, const MapBuilderRequest &req)
	Execture a MapBuilder request and store the address of the requesting behavior to use as the source ID in a mapbuilder status event.
virtual void	doEvent ()
void	processImage (const LookoutSketchEvent &)
std::vector< ShapeRoot >	getShapes (const ShapeSpace &ShS, int minConf=2) const
void	importLocalToWorld ()
ShapeRoot	importLocalShapeToWorld (const ShapeRoot &localShape)
ShapeRoot	importWorldToLocal (const ShapeRoot &worldShape)
template<class T >
Shape< T >	importWorldToLocal (const Shape< T > &worldShape)
void	newSiftMatcher (const std::string &siftDatabasePath)
void	saveSiftDatabase (const std::string &siftDatabasePath)
void	trainSiftObject (const std::string &siftDatabasePath, const std::string &objectName, const std::string &modelName="model1")
void	trainSiftObject (const std::string &siftDatabasePath, const Sketch< uchar > &sketch, const std::string &objectName, const std::string &modelName="model1")
void	matchSrcToDst (ShapeSpace &src, ShapeSpace &dst, std::set< color_index > polygonEdgeColors=std::set< color_index >(), bool mergeSrc=true, bool mergeDst=true)
void	defineGazePts ()
	define gazePts either virtually or by scan
void	extendLocal (const fmat::Transform &baseToCam)
void	extendWorld (const fmat::Transform &baseToCam)
void	removeNoise (ShapeSpace &, const fmat::Transform &baseToCam)
	decrement confidence of shapes which should have been seen according to the baseToCam matrix
void	removeGazePts (std::vector< Point > &, const fmat::Transform &baseToCam)
	erase gaze points which should have been seen according to the baseToCam matrix
bool	determineNextGazePoint ()
	Returns true if it has set up a valid next gaze point in nextGazePoint.
bool	determineNextGazePoint (const std::vector< ShapeRoot > &)
	Returns true if there is a shape which needs be looked at again and is reachable; sets it up as nextGazePoint.
bool	determineNextGazePoint (std::vector< Point > &gazePts)
void	moveToNextGazePoint (const bool manualOverride=false)
	Starts robot moving to the next gaze point.
void	doNextSearch ()
void	doNextSearch2 ()
bool	isBadGazePoint (const Point &) const
void	projectToGround (const fmat::Transform &camToBase)
ShapeRoot	projectToLocal (ShapeRoot &shape)
void	filterGroundShapes (const fmat::Transform &baseToCam)
void	calculateGroundPlane ()


const Shape< AgentData > &	getAgent () const
	utility functions which may be used by MapBuilderRequest's exit condition and others
void	moveAgent (coordinate_t const local_dx, coordinate_t const local_dy, coordinate_t const local_dz, AngSignPi dtheta)
	updates the agent location and heading after a relative move
Functions to make requests to the Lookout

void	storeImage (bool useNextGazePoint)
void	grabCameraImageAndGo ()
void	scanForGazePts ()
Static Public Member Functions
static void	setRetain (bool r)
	Control whether static structures (mapbuilder, sketchGUI sockets, etc.) are retained.
static bool	isRetained ()
static void	setVerbosity (MapBuilderVerbosity_t v)
static bool	isPointVisible (const Point &pt, const fmat::Transform &baseToCam, float maxDistanceSq)
static bool	isLineVisible (const LineData &ln, const fmat::Transform &baseToCam)
static bool	isShapeVisible (const ShapeRoot &ground_shape, const fmat::Transform &baseToCam, float maxDistanceSq)
Public Attributes
Transformation matrices between local and world frames

fmat::Transform	localToWorldMatrix
fmat::Transform	worldToLocalTranslateMatrix
fmat::Transform	worldToLocalRotateMatrix
Static Public Attributes
static const MapBuilderVerbosity_t	MBVstart = 1<<0
static const MapBuilderVerbosity_t	MBVevents = 1<<1
static const MapBuilderVerbosity_t	MBVexecute = 1<<2
static const MapBuilderVerbosity_t	MBVcomplete = 1<<3
static const MapBuilderVerbosity_t	MBVdefineGazePoints = 1<<4
static const MapBuilderVerbosity_t	MBVnextGazePoint = 1<<5
static const MapBuilderVerbosity_t	MBVshapeSearch = 1<<6
static const MapBuilderVerbosity_t	MBVshapesFound = 1<<7
static const MapBuilderVerbosity_t	MBVgroundPlane = 1<<8
static const MapBuilderVerbosity_t	MBVprojectionFailed = 1<<9
static const MapBuilderVerbosity_t	MBVimportShapes = 1<<10
static const MapBuilderVerbosity_t	MBVnotAdmissible = 1<<11
static const MapBuilderVerbosity_t	MBVshapeMatch = 1<<12
static const MapBuilderVerbosity_t	MBVshapesMerge = 1<<13
static const MapBuilderVerbosity_t	MBVshouldSee = 1<<14
static const MapBuilderVerbosity_t	MBVdeleteShape = 1<<15
static const MapBuilderVerbosity_t	MBVsetAgent = 1<<16
static const MapBuilderVerbosity_t	MBVbadGazePoint = 1<<17
Protected Member Functions
void	executeRequest ()
	Triggers action to execute the request at the front of the queue.
bool	requestExitTest ()
	calls exitTest of current request if there is one and returns the result
void	requestComplete ()
	posts completion event and deletes current request, executes next request if there is one
void	setAgent (const Point &worldLocation, const AngTwoPi worldHeading, bool quiet=false)
	Sets agent location and heading, and recomputes local-to-world transformation matrices. Called by the Pilot.
Shape extraction functions

void	getCameraShapes (const Sketch< uchar > &camFrame)
std::vector< Shape< LineData > >	getCamLines (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
std::vector< Shape< EllipseData > >	getCamEllipses (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
void	getCamPolygons (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
std::vector< Shape< LineData > >	getCamWalls (const Sketch< uchar > &, unsigned int) const
void	getCamSpheres (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
void	getCamBlobs (const Sketch< uchar > &camFrame, const std::set< color_index > &colors, const std::map< color_index, int > &minBlobAreas, const std::map< color_index, BlobData::BlobOrientation_t > &blobOrientations, const std::map< color_index, coordinate_t > &assumedBlobHeights)
void	getCamBlobs (const set< color_index > &colors, int defMinBlobArea=0)
void	getCamTargets (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
std::vector< Shape< MarkerData > >	getCamMarkers (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors, const std::set< MarkerType_t > &markerTypes) const
void	getCamSiftObjects (const Sketch< uchar > &rawY, const std::string &siftDatabasePath, const std::set< std::string > &siftObjectNames)
void	getCamAprilTags (const Sketch< uchar > &rawY)
Protected Attributes
SketchSpace &	camSkS
ShapeSpace &	camShS
ShapeSpace &	groundShS
SketchSpace &	localSkS
ShapeSpace &	localShS
SketchSpace &	worldSkS
ShapeSpace &	worldShS
const int	xres
const int	yres
	width and height of camera frame
PlaneEquation	ground_plane
	ground plane to which shapes are projected
Shape< AgentData > &	theAgent
std::vector< Point >	badGazePoints
	gaze points for which HeadPointerMC.lookAtPoint() returned false
std::queue< MapBuilderRequest * >	requests
MapBuilderRequest *	curReq
unsigned int	idCounter
float	maxDistSq
	square of current request's max distance parameter
std::map< string, SiftTekkotsu * >	siftMatchers
unsigned int	pointAtID
unsigned int	scanID
	ID's for lookout requests.
Point	nextGazePoint
Static Protected Attributes
static bool	retain = true
	if true, VRmixin::stopCrew will not clear MapBuilder structures
Private Member Functions
	MapBuilder (const MapBuilder &)
	never call this
MapBuilder &	operator= (const MapBuilder &)
	never call this
Static Private Attributes
static MapBuilderVerbosity_t	verbosity = -1U
Friends
class	Lookout
class	BiColorMarkerData
class	Pilot

Member Typedef Documentation

typedef unsigned int MapBuilderVerbosity_t

Definition at line 52 of file MapBuilder.h.

Constructor & Destructor Documentation

MapBuilder ( )

Constructor.

Definition at line 48 of file MapBuilder.cc.

virtual ~MapBuilder ( ) [virtual]

Destructor.

Definition at line 113 of file MapBuilder.h.

MapBuilder ( const MapBuilder & ) [private]

never call this

Member Function Documentation

void calculateGroundPlane ( )

Definition at line 634 of file MapBuilder.cc.

Referenced by MapBuilder::executeRequest().

void defineGazePts ( )

define gazePts either virtually or by scan

Definition at line 849 of file MapBuilder.cc.

Referenced by MapBuilder::executeRequest().

bool determineNextGazePoint ( std::vector< Point > & gazePts )

Definition at line 312 of file MapBuilder.cc.

bool determineNextGazePoint ( const std::vector< ShapeRoot > & shapes )

Returns true if there is a shape which needs be looked at again and is reachable; sets it up as nextGazePoint.

Definition at line 264 of file MapBuilder.cc.

bool determineNextGazePoint ( )

Returns true if it has set up a valid next gaze point in nextGazePoint.

Definition at line 251 of file MapBuilder.cc.

Referenced by MapBuilder::doEvent(), and MapBuilder::executeRequest().

void doEvent ( ) [virtual]

Definition at line 179 of file MapBuilder.cc.

void doNextSearch ( )

Definition at line 338 of file MapBuilder.cc.

Referenced by MapBuilder::doEvent(), and MapBuilder::executeRequest().

void doNextSearch2 ( )

void executeRequest	(	BehaviorBase *	requestingBehavior,
		const MapBuilderRequest &	req
	)

Execture a MapBuilder request and store the address of the requesting behavior to use as the source ID in a mapbuilder status event.

Definition at line 100 of file MapBuilder.cc.

unsigned int executeRequest	(	const MapBuilderRequest &	req,
		unsigned int *	req_id = `NULL`
	)

Execute a MapBuilder request, and optionally store the request id in a variable; the id will be returned in any case.

Definition at line 106 of file MapBuilder.cc.

void executeRequest ( ) [protected]

Triggers action to execute the request at the front of the queue.

Definition at line 120 of file MapBuilder.cc.

Referenced by MapBuilder::executeRequest(), MapBuilderNode::postStart(), and MapBuilder::requestComplete().

void extendLocal ( const fmat::Transform & baseToCam )

Definition at line 394 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

void extendWorld ( const fmat::Transform & baseToCam )

Definition at line 407 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

void filterGroundShapes ( const fmat::Transform & baseToCam )

Definition at line 565 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

const Shape<AgentData>& getAgent ( ) const

utility functions which may be used by MapBuilderRequest's exit condition and others

Definition at line 132 of file MapBuilder.h.

void getCamAprilTags ( const Sketch< uchar > & rawY ) [protected]

Definition at line 1240 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

void getCamBlobs	(	const set< color_index > &	colors,
		int	defMinBlobArea = `0`
	)			`[protected]`

Definition at line 1115 of file MapBuilder.cc.

void getCamBlobs	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	colors,
		const std::map< color_index, int > &	minBlobAreas,
		const std::map< color_index, BlobData::BlobOrientation_t > &	blobOrientations,
		const std::map< color_index, coordinate_t > &	assumedBlobHeights
	)			`[protected]`

Definition at line 1099 of file MapBuilder.cc.

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

vector< Shape< EllipseData > > getCamEllipses	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 992 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

void getCameraShapes ( const Sketch< uchar > & camFrame ) [protected]

Definition at line 944 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

vector< Shape< LineData > > getCamLines	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 964 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

vector< Shape< MarkerData > > getCamMarkers	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors,
		const std::set< MarkerType_t > &	markerTypes
	)			const `[protected]`

Definition at line 1170 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

void getCamPolygons	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1011 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

void getCamSiftObjects	(	const Sketch< uchar > &	rawY,
		const std::string &	siftDatabasePath,
		const std::set< std::string > &	siftObjectNames
	)			`[protected]`

Definition at line 1201 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

void getCamSpheres	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1037 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

void getCamTargets	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1134 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

vector< Shape< LineData > > getCamWalls	(	const Sketch< uchar > &	camFrame,
		unsigned int	floorColor
	)			const `[protected]`

Definition at line 1055 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

virtual std::string getDescription ( ) const [virtual]

Definition at line 116 of file MapBuilder.h.

std::vector<ShapeRoot> getShapes	(	const ShapeSpace &	ShS,
		int	minConf = `2`
	)			const

Definition at line 138 of file MapBuilder.h.

void grabCameraImageAndGo ( )

Definition at line 362 of file MapBuilder.cc.

Referenced by MapBuilder::executeRequest().

ShapeRoot importLocalShapeToWorld ( const ShapeRoot & localShape )

Definition at line 486 of file MapBuilder.cc.

void importLocalToWorld ( )

Definition at line 479 of file MapBuilder.cc.

Shape< T > importWorldToLocal ( const Shape< T > & worldShape )

Definition at line 257 of file MapBuilder.h.

ShapeRoot importWorldToLocal ( const ShapeRoot & worldShape )

Definition at line 492 of file MapBuilder.cc.

bool isBadGazePoint ( const Point & Pt ) const

Definition at line 344 of file MapBuilder.cc.

Referenced by MapBuilder::determineNextGazePoint().

bool isLineVisible	(	const LineData &	ln,
		const fmat::Transform &	baseToCam
	)			`[static]`

Definition at line 509 of file MapBuilder.cc.

Referenced by MapBuilder::isShapeVisible(), and MapBuilder::removeNoise().

bool isPointVisible	(	const Point &	pt,
		const fmat::Transform &	baseToCam,
		float	maxDistanceSq
	)			`[static]`

Definition at line 499 of file MapBuilder.cc.

Referenced by MapBuilder::isShapeVisible(), and MapBuilder::removeGazePts().

static bool isRetained ( ) [static]

Definition at line 50 of file MapBuilder.h.

Referenced by VRmixin::VRmixin().

bool isShapeVisible	(	const ShapeRoot &	ground_shape,
		const fmat::Transform &	baseToCam,
		float	maxDistanceSq
	)			`[static]`

Definition at line 545 of file MapBuilder.cc.

Referenced by MapBuilder::removeNoise().

void matchSrcToDst	(	ShapeSpace &	src,
		ShapeSpace &	dst,
		std::set< color_index >	polygonEdgeColors = `std::set<color_index>()`,
		bool	mergeSrc = `true`,
		bool	mergeDst = `true`
	)

Definition at line 679 of file MapBuilder.cc.

Referenced by MapBuilder::extendLocal(), MapBuilder::extendWorld(), and MapBuilder::importLocalToWorld().

void moveAgent	(	coordinate_t const	local_dx,
		coordinate_t const	local_dy,
		coordinate_t const	local_dz,
		AngSignPi	dtheta
	)

updates the agent location and heading after a relative move

Definition at line 469 of file MapBuilder.cc.

void moveToNextGazePoint ( const bool manualOverride = false )

Starts robot moving to the next gaze point.

Definition at line 322 of file MapBuilder.cc.

Referenced by MapBuilder::doEvent(), and MapBuilder::executeRequest().

void newSiftMatcher ( const std::string & siftDatabasePath )

Definition at line 1229 of file MapBuilder.cc.

MapBuilder& operator= ( const MapBuilder & ) [private]

never call this

void preStart ( ) [virtual]

Definition at line 65 of file MapBuilder.cc.

void printShS ( ShapeSpace & ShS ) const

Definition at line 916 of file MapBuilder.cc.

void processImage ( const LookoutSketchEvent & e )

Definition at line 219 of file MapBuilder.cc.

Referenced by MapBuilder::doEvent(), and MapBuilder::grabCameraImageAndGo().

void projectToGround ( const fmat::Transform & camToBase )

Definition at line 660 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

ShapeRoot projectToLocal ( ShapeRoot & shape )

Definition at line 664 of file MapBuilder.cc.

void removeGazePts	(	std::vector< Point > &	gazePts,
		const fmat::Transform &	baseToCam
	)

erase gaze points which should have been seen according to the baseToCam matrix

Definition at line 896 of file MapBuilder.cc.

Referenced by MapBuilder::extendWorld().

void removeNoise	(	ShapeSpace &	ShS,
		const fmat::Transform &	baseToCam
	)

decrement confidence of shapes which should have been seen according to the baseToCam matrix

Definition at line 804 of file MapBuilder.cc.

Referenced by MapBuilder::extendLocal(), and MapBuilder::extendWorld().

void requestComplete ( ) [protected]

posts completion event and deletes current request, executes next request if there is one

Definition at line 424 of file MapBuilder.cc.

Referenced by MapBuilder::defineGazePts(), MapBuilder::doEvent(), MapBuilder::executeRequest(), and MapBuilder::grabCameraImageAndGo().

bool requestExitTest ( ) [protected]

calls exitTest of current request if there is one and returns the result

Definition at line 417 of file MapBuilder.cc.

Referenced by MapBuilder::doEvent().

void saveSiftDatabase ( const std::string & siftDatabasePath )

Definition at line 1257 of file MapBuilder.cc.

void scanForGazePts ( )

Definition at line 380 of file MapBuilder.cc.

Referenced by MapBuilder::defineGazePts().

void setAgent	(	const Point &	worldLocation,
		const AngTwoPi	worldHeading,
		bool	quiet = `false`
	)			`[protected]`

Sets agent location and heading, and recomputes local-to-world transformation matrices. Called by the Pilot.

Definition at line 444 of file MapBuilder.cc.

Referenced by MapBuilder::moveAgent().

static void setRetain ( bool r ) [static]

Control whether static structures (mapbuilder, sketchGUI sockets, etc.) are retained.

Definition at line 49 of file MapBuilder.h.

static void setVerbosity ( MapBuilderVerbosity_t v ) [static]

Definition at line 75 of file MapBuilder.h.

void stop ( ) [virtual]

Definition at line 90 of file MapBuilder.cc.

Referenced by VRmixin::stopCrew().

void storeImage ( bool useNextGazePoint )

Definition at line 350 of file MapBuilder.cc.

Referenced by MapBuilder::executeRequest(), and MapBuilder::moveToNextGazePoint().

void trainSiftObject	(	const std::string &	siftDatabasePath,
		const Sketch< uchar > &	sketch,
		const std::string &	objectName,
		const std::string &	modelName = `"model1"`
	)