MapBuilder Class Reference

#include <MapBuilder.h>

Inheritance diagram for MapBuilder:

Detailed Description

Definition at line 24 of file MapBuilder.h.

Public Member Functions

MapBuilder ()

Constructor.

virtual ~MapBuilder ()

Destructor.

virtual void DoStart ()

virtual void DoStop ()

virtual void processEvent (const EventBase &)

virtual std::string getDescription () const

void printShS (ShapeSpace &) const

unsigned int executeRequest (const MapBuilderRequest &req)

void processImage (const Sketch< uchar > &, const NEWMAT::Matrix &camToBase, const NEWMAT::Matrix &baseToCam)

const Shape< AgentData > & getAgent () const

@ utility functions which may be used by MapBuilderRequests' exit condition and others

void setAgent (const Point &location, const AngTwoPi heading)

void moveAgent (coordinate_t const local_dx, coordinate_t const local_dy, AngTwoPi dtheta)

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

const vector< Point > & getGazePts () const

vector< Shape< LineData > > getCamLines (const Sketch< uchar > &, const set< int > &objectColors, const set< int > &occluderColors) const

@ Shape extraction functions

vector< Shape< PolygonData > > getCamPolygons (const Sketch< uchar > &, const set< int > &objectColors, const set< int > &occluderColors) const

vector< Shape< EllipseData > > getCamEllipses (const Sketch< uchar > &, const set< int > &objectColors, const set< int > &occluderColors) const

vector< Shape< SphereData > > getCamSpheres (const Sketch< uchar > &, const set< int > &objectColors, const set< int > &occluderColors) const

vector< Shape< LineData > > getCamWalls (const Sketch< uchar > &, unsigned int) const

vector< Shape< BlobData > > getCamBlobs (const Sketch< uchar > &sketch, const set< int > &objectColors) const

void importLocalToWorld ()

void importWorldToLocal (const ShapeRoot &shape)

Static Public Member Functions

static bool isPointVisible (const Point &pt, const NEWMAT::Matrix &baseToCam, float maxDistanceSq)

static bool isLineVisible (const LineData &ln, const NEWMAT::Matrix &baseToCam)

static bool isShapeVisible (const ShapeRoot &ground_shape, const NEWMAT::Matrix &baseToCam, float maxDistanceSq)

static bool returnTrue ()

static bool returnFalse ()

static Shape< BlobData > formBoundingBox (coordinate_t left, coordinate_t right, coordinate_t front, coordinate_t rear)

static void matchSrcToDst (ShapeSpace &src, ShapeSpace &dst, set< int > polygonEdgeColors=set< int >(), bool mergeSrc=true, bool mergeDst=true)

Public Attributes

const int xres

const int yres

width and height of camera frame

NEWMAT::ColumnVector ground_plane

ground plane to which shapes are projected

Protected Member Functions

void requestComplete ()

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

void executeRequest ()

triggers action to execute the front one in requests queue

bool requestExitTest ()

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

void scan (ScanRequest &req)

functions to make requests to lookout

void storeImageAt (const Point &pt)

void storeImage ()

void defineGazePts (vector< Point > &, const ShapeRoot &area, bool doScan)

define gazePts either virtually or by scan

void defineGazePts (vector< Point > &gazePts, const vector< Point > &corners, float meshSize)

void getCameraShapes (const Sketch< uchar > &camFrame)

void getCamBlobs ()

void extendLocal (const NEWMAT::Matrix &baseToCam)

void extendWorld (const NEWMAT::Matrix &baseToCam)

void removeNoise (ShapeSpace &, const NEWMAT::Matrix &baseToCam)

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

void removeGazePts (vector< Point > &, const NEWMAT::Matrix &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 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 (vector< Point > &gazePts)

void moveToNextGazePoint (const bool manualOverride=false)

Starts robot moving to the next gaze point.

bool isBadGazePoint (const Point &) const

void projectToGround (const NEWMAT::Matrix &camToBase)

void filterGroundShapes (const NEWMAT::Matrix &baseToCam)

void calculateGroundPlane (const MapBuilderRequest::GroundPlaneAssumption_t &gpa)

Protected Attributes

SketchSpace & camSkS

ShapeSpace & camShS

ShapeSpace & groundShS

DualCoding::MapBuilder::maps local

DualCoding::MapBuilder::maps world

DualCoding::MapBuilder::maps * cur

Shape< AgentData > & theAgent

NEWMAT::Matrix localToWorldMatrix

trasformation matrices between local and world frames.

NEWMAT::Matrix worldToLocalTranslateMatrix

NEWMAT::Matrix worldToLocalRotateMatrix

vector< Point > badGazePoints

gaze points for which HeadPointerMC.lookAtPoint() returned false

bool agentAtOrigin

whether or not agent is at origin and orientation is zero or two pi.

queue< MapBuilderRequest * > requests

MapBuilderRequest * curReq

unsigned int idCounter

unsigned int maxDistSq

sqrt of current request's max distance parameter

unsigned int pointAtID

unsigned int scanID

ID's for lookout requests.

Point nextGazePoint

Private Member Functions

MapBuilder (const MapBuilder &)

never call this

MapBuilder & operator= (const MapBuilder &)

never call this

Classes

struct maps

Constructor & Destructor Documentation

MapBuilder ( )

Constructor.

Definition at line 34 of file MapBuilder.cc.

virtual ~MapBuilder ( ) [inline, virtual]

Destructor.

Definition at line 68 of file MapBuilder.h.

MapBuilder ( const MapBuilder & ) [private]

never call this

Member Function Documentation

void calculateGroundPlane ( const MapBuilderRequest::GroundPlaneAssumption_t & gpa ) [protected]

Definition at line 541 of file MapBuilder.cc.

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

void defineGazePts	(	vector< Point > &	gazePts,
		const vector< Point > &	corners,
		float	meshSize
	)			`[protected]`

Definition at line 751 of file MapBuilder.cc.

void defineGazePts	(	vector< Point > &	,
		const ShapeRoot &	area,
		bool	doScan
	)			`[protected]`

define gazePts either virtually or by scan

Definition at line 697 of file MapBuilder.cc.

Referenced by MapBuilder::executeRequest().

bool determineNextGazePoint ( vector< Point > & gazePts ) [protected]

Definition at line 258 of file MapBuilder.cc.

bool determineNextGazePoint ( const vector< ShapeRoot > & ) [protected]

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

Definition at line 212 of file MapBuilder.cc.

bool determineNextGazePoint ( ) [protected]

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

Definition at line 200 of file MapBuilder.cc.

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

void DoStart ( ) [virtual]

Definition at line 50 of file MapBuilder.cc.

Referenced by VRmixin::startCrew().

void DoStop ( ) [virtual]

Definition at line 62 of file MapBuilder.cc.

Referenced by VRmixin::stopCrew().

unsigned int executeRequest ( const MapBuilderRequest & req )

Definition at line 82 of file MapBuilder.cc.

void executeRequest ( ) [protected]

triggers action to execute the front one in requests queue

Definition at line 114 of file MapBuilder.cc.

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

void extendLocal ( const NEWMAT::Matrix & baseToCam ) [protected]

Definition at line 320 of file MapBuilder.cc.

Referenced by MapBuilder::processEvent().

void extendWorld ( const NEWMAT::Matrix & baseToCam ) [protected]

Definition at line 328 of file MapBuilder.cc.

Referenced by MapBuilder::processEvent().

void filterGroundShapes ( const NEWMAT::Matrix & baseToCam ) [protected]

Definition at line 475 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

static Shape<BlobData> formBoundingBox	(	coordinate_t	left,
		coordinate_t	right,
		coordinate_t	front,
		coordinate_t	rear
	)			`[inline, static]`

Definition at line 131 of file MapBuilder.h.

const Shape<AgentData>& getAgent ( ) const [inline]

@ utility functions which may be used by MapBuilderRequests' exit condition and others

Definition at line 85 of file MapBuilder.h.

void getCamBlobs ( ) [protected]

Definition at line 995 of file MapBuilder.cc.

vector<Shape<BlobData> > getCamBlobs	(	const Sketch< uchar > &	sketch,
		const set< int > &	objectColors
	)			const `[inline]`

Definition at line 126 of file MapBuilder.h.

vector< Shape< EllipseData > > getCamEllipses	(	const Sketch< uchar > &	,
		const set< int > &	objectColors,
		const set< int > &	occluderColors
	)			const

Definition at line 893 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

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

Definition at line 858 of file MapBuilder.cc.

Referenced by MapBuilder::processImage().

vector< Shape< LineData > > getCamLines	(	const Sketch< uchar > &	,
		const set< int > &	objectColors,
		const set< int > &	occluderColors
	)			const

@ Shape extraction functions

Definition at line 868 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

vector< Shape< PolygonData > > getCamPolygons	(	const Sketch< uchar > &	,
		const set< int > &	objectColors,
		const set< int > &	occluderColors
	)			const

Definition at line 910 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

vector< Shape< SphereData > > getCamSpheres	(	const Sketch< uchar > &	,
		const set< int > &	objectColors,
		const set< int > &	occluderColors
	)			const

Definition at line 936 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

vector< Shape< LineData > > getCamWalls	(	const Sketch< uchar > &	,
		unsigned	int
	)			const

Definition at line 953 of file MapBuilder.cc.

Referenced by MapBuilder::getCameraShapes().

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

Definition at line 72 of file MapBuilder.h.

const vector<Point>& getGazePts ( ) const [inline]

Definition at line 105 of file MapBuilder.h.

vector<ShapeRoot> getShapes	(	const ShapeSpace &	ShS,
		int	minConf = `2`
	)			const `[inline]`

Definition at line 93 of file MapBuilder.h.

void importLocalToWorld ( )

Definition at line 398 of file MapBuilder.cc.

void importWorldToLocal ( const ShapeRoot & shape )

Definition at line 409 of file MapBuilder.cc.

bool isBadGazePoint ( const Point & ) const [protected]

Definition at line 292 of file MapBuilder.cc.

Referenced by MapBuilder::determineNextGazePoint().

bool isLineVisible	(	const LineData &	ln,
		const NEWMAT::Matrix &	baseToCam
	)			`[static]`

Definition at line 423 of file MapBuilder.cc.

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

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

Definition at line 415 of file MapBuilder.cc.

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

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

Definition at line 455 of file MapBuilder.cc.

Referenced by MapBuilder::removeNoise().

void matchSrcToDst	(	ShapeSpace &	src,
		ShapeSpace &	dst,
		set< int >	polygonEdgeColors = `set< int >()`,
		bool	mergeSrc = `true`,
		bool	mergeDst = `true`
	)			`[static]`