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BallDetectionGenerator.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_BallDetectionGenerator_h_ #define INCLUDED_BallDetectionGenerator_h_ #include "Events/EventGeneratorBase.h" class FilterBankEvent; //! Uses segmented color region information to detect round objects /*! This expects its events to come from a RegionGenerator (or a * compatable subclass) * * Sends a VisionObjectEvent only for the largest ball found (if one * @e is found) * * You can set the index of the color of the ball to look for in the * constructor, so you can have several of these running looking for * balls of different colors. * * This is one of our oldest code segments, and has been hacked on a * lot, so apologies for a bit of a mess... */ class BallDetectionGenerator : public EventGeneratorBase { public: //! constructor BallDetectionGenerator(EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid, unsigned int colorIdx, unsigned int threshmapChan, unsigned int noiseFiltering, float confidence); static std::string getClassDescription() { return "Detects round-ish regions"; } //! see class notes above for what data this can handle virtual void processEvent(const EventBase& event); protected: typedef unsigned char uchar; //!< shorthand //!@name Edge masks static const uchar OFF_EDGE_LEFT = 1<<1; //!< bitmask for calcEdgeMask results static const uchar OFF_EDGE_RIGHT = 1<<2; static const uchar OFF_EDGE_TOP = 1<<3; static const uchar OFF_EDGE_BOTTOM = 1<<4; //@} static const unsigned int NUM_CHECK = 10; //!< the number of regions to check (from largest to smallest) //! High level vision ouput structure for detected objects struct VObject { double confidence; //!< [0,1] Estimate of certainty //vector3d loc; //!< Relative to front of robot (on ground) //double left,right; //!< Angle to left and right of object (egocentric) //double distance; //!< Distance of object (on ground) //uchar edge; //!< Is object on edge of image (bitmasks above) }; //! decides wether to actually send the event based on confidence threshold. void testSendEvent(const FilterBankEvent& ev, float conf, int regX1,int regX2,int regY1, int regY2); //! does the actual event sending void createEvent(EventBase::EventTypeID_t etid, float bbX1,float bbX2,float bbY1,float bbY2,float rx,float ry ) const; //! returns a bit mask corresponding to edges touched by the coordinates passed static int calcEdgeMask(int x1,int x2,int y1,int y2, int width, int height); //! returns @f[ \left|\frac{a-b}{a+b}\right| @f] inline static float pct_from_mean(float a,float b) { float s = (a - b) / (a + b); return fabs(s); } unsigned int clrIdx; //!< the index of the color of the ball we're looking for unsigned int tmIdx; //!< the index of the theshold map (channel) of the FilterBankEvent VObject ball; //!< information about the best ball found bool present; //!< if true, we think we have a ball in front of us unsigned int count; //!< for each frame where we don't agree with present's value, this is incremented and compared against noiseFilter. unsigned int noiseThreshold; //!< the number of frames to wait to make sure an object has dissappeared/reappeared float confidenceThreshold; //!< how sure we should be it's a ball before declaring it as such. private: BallDetectionGenerator(const BallDetectionGenerator& fbk); //!< don't call const BallDetectionGenerator& operator=(const BallDetectionGenerator& fbk); //!< don't call }; /*! @file * @brief Describes BallDetectionGenerator, which uses segmented color region information to detect round objects * @author alokl (Creator) * @author ejt (reorganized) * @author Ignacio Herrero Reder < nhr at dte uma es > (VisionObjectInfo Boundary Box - bug 74) * * History is old, may have grown from CMPack (CMU Robosoccer) roots? * I think if there's any of their code left, it's probably *mostly* * the commented out stuff I (ejt) left for posterity when * reorganizing. But alokl didn't flag this as CMPack's prior to * inital release, and they didn't request credit for it when they * reviewed the code, so I guess it's all ours... * * $Author: ejt $ * $Name: tekkotsu-2_3 $ * $Revision: 1.6 $ * $State: Exp $ * $Date: 2005/01/14 22:24:51 $ * $ Modified: 2005/12/01 $ * @ Functions to create VisionObjectEvents include now BB and area info. */ #endif

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