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BallDetectionGenerator.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_BallDetectionGenerator_h_ 00003 #define INCLUDED_BallDetectionGenerator_h_ 00004 00005 #include "Events/EventGeneratorBase.h" 00006 00007 class FilterBankEvent; 00008 00009 //! Uses segmented color region information to detect round objects 00010 /*! This expects its events to come from a RegionGenerator (or a 00011 * compatable subclass) 00012 * 00013 * Sends a VisionObjectEvent only for the largest ball found (if one 00014 * @e is found) 00015 * 00016 * You can set the index of the color of the ball to look for in the 00017 * constructor, so you can have several of these running looking for 00018 * balls of different colors. 00019 * 00020 * This is one of our oldest code segments, and has been hacked on a 00021 * lot, so apologies for a bit of a mess... 00022 */ 00023 class BallDetectionGenerator : public EventGeneratorBase { 00024 public: 00025 //! constructor 00026 BallDetectionGenerator(EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid, unsigned int colorIdx, unsigned int threshmapChan, unsigned int noiseFiltering, float confidence); 00027 00028 static std::string getClassDescription() { return "Detects round-ish regions"; } 00029 00030 //! see class notes above for what data this can handle 00031 virtual void processEvent(const EventBase& event); 00032 00033 protected: 00034 typedef unsigned char uchar; //!< shorthand 00035 00036 //!@name Edge masks 00037 static const uchar OFF_EDGE_LEFT = 1<<1; //!< bitmask for calcEdgeMask results 00038 static const uchar OFF_EDGE_RIGHT = 1<<2; 00039 static const uchar OFF_EDGE_TOP = 1<<3; 00040 static const uchar OFF_EDGE_BOTTOM = 1<<4; 00041 //@} 00042 00043 static const unsigned int NUM_CHECK = 10; //!< the number of regions to check (from largest to smallest) 00044 00045 //! High level vision ouput structure for detected objects 00046 struct VObject { 00047 double confidence; //!< [0,1] Estimate of certainty 00048 //vector3d loc; //!< Relative to front of robot (on ground) 00049 //double left,right; //!< Angle to left and right of object (egocentric) 00050 //double distance; //!< Distance of object (on ground) 00051 //uchar edge; //!< Is object on edge of image (bitmasks above) 00052 }; 00053 00054 //! decides wether to actually send the event based on confidence threshold. 00055 void testSendEvent(const FilterBankEvent& ev, float conf, int regcenX, int regcenY); 00056 //! does the actual event sending 00057 void createEvent(EventBase::EventTypeID_t etid, float centerX, float centerY) const; 00058 //! returns a bit mask corresponding to edges touched by the coordinates passed 00059 static int calcEdgeMask(int x1,int x2,int y1,int y2, int width, int height); 00060 //! returns @f[ \left|\frac{a-b}{a+b}\right| @f] 00061 inline static float pct_from_mean(float a,float b) { 00062 float s = (a - b) / (a + b); 00063 return fabs(s); 00064 } 00065 00066 unsigned int clrIdx; //!< the index of the color of the ball we're looking for 00067 unsigned int tmIdx; //!< the index of the theshold map (channel) of the FilterBankEvent 00068 VObject ball; //!< information about the best ball found 00069 bool present; //!< if true, we think we have a ball in front of us 00070 unsigned int count; //!< for each frame where we don't agree with present's value, this is incremented and compared against noiseFilter. 00071 unsigned int noiseThreshold; //!< the number of frames to wait to make sure an object has dissappeared/reappeared 00072 float confidenceThreshold; //!< how sure we should be it's a ball before declaring it as such. 00073 00074 private: 00075 BallDetectionGenerator(const BallDetectionGenerator& fbk); //!< don't call 00076 const BallDetectionGenerator& operator=(const BallDetectionGenerator& fbk); //!< don't call 00077 }; 00078 00079 /*! @file 00080 * @brief Describes BallDetectionGenerator, which uses segmented color region information to detect round objects 00081 * @author alokl (Creator) 00082 * @author ejt (reorganized) 00083 * 00084 * History is old, may have grown from CMPack (CMU Robosoccer) roots? 00085 * I think if there's any of their code left, it's probably *mostly* 00086 * the commented out stuff I (ejt) left for posterity when 00087 * reorganizing. But alokl didn't flag this as CMPack's prior to 00088 * inital release, and they didn't request credit for it when they 00089 * reviewed the code, so I guess it's all ours... 00090 * 00091 * $Author: ejt $ 00092 * $Name: tekkotsu-2_1 $ 00093 * $Revision: 1.4 $ 00094 * $State: Exp $ 00095 * $Date: 2004/02/09 22:45:28 $ 00096 */ 00097 00098 #endif |
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