#include <uresobj3d.h>

Inheritance diagram for UResObj3d:

Public Member Functions
void	addObstacleParameters ()

bool	do3dCloudFromSvs (UImg3Dpoints *cloud)

bool	do3dGroundPlane (UImg3Dpoints *cloud, bool doGndEdgeObst, bool doImg)
	find candidates for human detections. Estimates the ground plane from 3D cloud. More...

bool	do3dVoxels (UImg3Dpoints *cloud, bool justHuman, bool doImg)
	find candidates for human detections. Estimates the ground plane from 3D cloud. Isolates 3D voxel volumens, and filter human sized volumens. More...

void	doGndPlaneMask (int maskImgNum, UPlane plane, UImg3Dpoints *cloud, double cellSize, double planeDist, bool erode, bool dilate)

bool	get3dCloud (const char source, UImg3Dpoints *cloud)
	Get the point cloud from ing3d cloud source. The cloud is actually stored in the svs module, and a pointer the coud is provided only. Remember to lock it while processing and release after use. More...

bool	get3dCloudFromSvs (bool getAny, UImg3Dpoints **cloud)
	Get the newest point cloud from svs. The cloud is actually stored in the svs module, and a pointer the coud is provided only. Remember to lock it while processing and release after use. More...

UPlane	getGroundPlane ()
	get estimated ground plane More...

double	getGroundPlaneQuality ()
	get the quality of the ground-plane Quality is the relative count of ponts in the ground plane, relative to all points More...

virtual void	getObstacleGroupSettings (UObj3dGroup *og)

virtual void	obstDataUpdated (UTime poseTime)

virtual const char *	print (const char preString, char buff, int buffCnt)

virtual const char *	snprint (const char preString, char buff, int buffCnt)

	UResObj3d ()

virtual	~UResObj3d ()

Public Member Functions inherited from UObj3dPool
void	addObstacle (UPolygon *newPoly, UPoseTime odoPose, bool isHuman, bool isGndBased)

UObj3dGroup *	advanceNewGroup ()

void	clear ()

void	clearGrp (int idx)

UObj3dGroup *	getGroup (int fromNewest)

int	getGroupsCnt ()

UObj3dGroup *	getObstGrp (UPoseTime pt)

void	print (const char *prestr)

void	setLogFile (FILE *logFile)

void	setNewGrpDist (double value)

void	setNewGrpTime (double value)

	UObj3dPool ()

virtual	~UObj3dPool ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Protected Member Functions
bool	addGroundObjects (UImg3Dpoints *cloud, double minZ, double maxZ, double maxX, double maxSep)

void	approximatePolyLine (const CvPoint pnts[], bool pntOK[], const int pntsCnt, const float toll)

int	countContourEdges (CvSeq contours, int largest)

int	countContourLimits (CvSeq contours, int left, int right, int top, int *bottom, bool lookingLeft)

int	findContour (UImage imgMask, UImage dest, CvPoint flp, int flpMax, bool tooHigh, bool *tooSmall, bool lookingLeft)

float	findMostDistantVertex (const CvPoint pnts[], const int pntsCnt, int *idx)
	get most distant vertex from line between endpoints More...

CvSeqBlock *	findPolygonLargest (UImage img, int leftEdge, int *rightEdge)

int	findPolygons (UImage img, UImage imgD, UImg3Dpoint **ps, const int psCnt, int scale)
	Extract polygons for z-slizes in this image. More...

int	findPolygonsOne (CvSeqBlock block, UImg3Dpoint ps, const int psCnt, UImg3Dpoint *pd, const int pdCnt, const int maxPoints, int scale)
	Extract just one polygon. More...

int	findPolygonsOnEdge (CvSeqBlock block, UImg3Dpoint *ps, const int psCnt, int scale, int leftEdge, int rightEdge, int distLimit)
	Extract ground edge polygons, as obstacles. The polygons are returned in gnds[gndsCnt] The method is to convert edges on top line of the polygon in 'block' into obstacles, if thay are not on the left or right edge, and not further away than the distance limit (distLimit) More...

UImage *	makeGroundPlaneProfileImage (int inum1, int inum2, UImg3Dpoint **cloudPts, int cloudPtsCnt, int scale)

void	paintGndPlane (int imgNum, UImg3Dpoints *cloud, double maxX, double maxZ, bool andBoxes, bool andGndPolygons)

void	paintPolygonInImage (UImage img, UImg3Dpoint *pd, const int pdCnt)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
UPlane	gndPlaneC

double	gndPlaneQ

UPlane	gndPlaneR

UTime	gndPlaneTime

UPolygon40 *	gnds [MAX_GND_POLYGONS]

int	gndsCnt

UGrid3D *	grid

unsigned int	lastSvsSerial

ULogFile	loghum

UObj3dPool *	pool

CvMemStorage *	storage

UVariable *	varBBmaxDX
	box finder parameter maximum X extend More...

UVariable *	varBBmaxDY
	max box (human) filter y extend More...

UVariable *	varBBmaxZ
	maximum height for human finder More...

UVariable *	varBBmerge
	should bounding boxex be allowed to merge More...

UVariable *	varBBminVoxCnt
	minimum voxel cound More...

UVariable *	varBBminX
	humans closer to camera than this is assumed an error More...

UVariable *	varBBminZ
	humans lower than this are ignored More...

UVariable *	varCombineDist

UVariable *	varDistMaxX
	index to maximum usable 3D distance More...

UVariable *	varGndFilter
	should ground filter on voxels be used More...

UVariable *	varGndFilterCell
	filter cell size, compared to voxed cell size (0.5 gives 4 times as many cellse) More...

UVariable *	varGndFilterDilate
	should ground filter on voxels be dilate-eroded More...

UVariable *	varGndFilterErode
	should ground filter on voxels be eroded 1 more than dilate More...

UVariable *	varGndMaxZ
	index to maximum Z for gorund finding More...

UVariable *	varGndMinQ
	minimum quality (share of inliers relative to all) to use plane estamate More...

UVariable *	varGndMinZ
	index to minimum Z for gorund finding More...

UVariable *	varGndPolyScale
	number of pixels per ground polygin image pixel before segmentation More...

UVariable *	varGndRedFac
	point reduction factor for ground estimate (to save time) def = 3 More...

UVariable *	varGridSize
	voxel cell size (in meter) More...

UVariable *	varGroup

UVariable *	varGrpMaxDist

UVariable *	varGrpMaxTime

UVariable *	varGrps

UVariable *	varMinDens
	minimum voxel density per footprint square meter More...

UVariable *	varMinDensCnt
	minimum voxel density to be tested for voxel blobs with up to this number of cells More...

UVariable *	varMinRoofHgt
	minimum height for roof obstacles More...

UVariable *	varObstMerge

UVariable *	varUpdateTime

Protected Attributes inherited from UObj3dPool
UObj3dGroup *	groups [MAX_OBSTACLE_GROUPS]

int	groupsCnt

FILE *	logo

int	newest

double	newGroupTime

double	newGrpDist

unsigned long	nextSerial

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Static Protected Attributes
static const int	MAX_GND_POLYGONS = 50

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Private Member Functions
int	getBlockArea (CvSeqBlock block, int leftEdge, int *rightEdge)

void	UResObj3dInit ()

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UObj3dPool
static const int	MAX_OBSTACLE_GROUPS = 100

Detailed Description

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResObj3d::UResObj3d ( )

inline

Constructor

UResObj3d::~UResObj3d ( )

virtual

Destructor

Member Function Documentation

bool UResObj3d::addGroundObjects	(	UImg3Dpoints *	cloud,
		double	minZ,
		double	maxZ,
		double	maxX,
		double	maxSep
	)

protected

void UResObj3d::addObstacleParameters ( )

Add special variable parameters for obstacle management

void UResObj3d::approximatePolyLine	(	const CvPoint	pnts[],
		bool	pntOK[],
		const int	pntsCnt,
		const float	toll
	)

protected

int UResObj3d::countContourEdges	(	CvSeq *	contours,
		int *	largest
	)

protected

Count edges in contour sequebnce

int UResObj3d::countContourLimits	(	CvSeq *	contours,
		int *	left,
		int *	right,
		int *	top,
		int *	bottom,
		bool	lookingLeft
	)

protected

Find square limits of found contour returns the point cont, and if limit pointers != NULL the left, right, top and bottol limits of the points in the sequence.

bool UResObj3d::do3dCloudFromSvs ( UImg3Dpoints * cloud )

Get fresh 3D cloud data from svs system and update the object pool as needed.

Parameters

getAny takes any data from SVS, if false, then only new data (based on serial number)

Returns: true if processing were successfull - source data is available)

References UResPoseHist::getPoseAtTime(), UImg3Dpoints::time, and UImg3Dpoints::toRobotCoordinates().

bool UResObj3d::do3dGroundPlane	(	UImg3Dpoints *	cloud,
		bool	doGndEdgeObst,
		bool	doImg
	)

find candidates for human detections. Estimates the ground plane from 3D cloud.

Parameters

cloud	the 3D cloud to be processed.
doGndEdgeObst	make obstacles from edge of ground polygone
doImg	if true, then more debug images are produced.

Returns: true if a plane were found. The plane and quality is saved in class.

References UImg3Dpoints::add(), UPlane::clear(), UPosRot::getCamToRobPlane(), UPoseTime::getPoseAtTime(), UImg3Dpoints::getRansacPlane(), UPosRot::getRobToCamPlane(), UTime::getTimePassed(), img, UImg3Dpoints::inSensorCoordinates, UTime::now(), UImg3Dpoints::p3d, UImg3Dpoints::p3dCnt, UImg3Dpoint::pos, UImg3Dpoints::pose, UTime::print(), UImg3Dpoint::q, roundi(), UPoseTime::t, UImg3Dpoints::time, UImg3Dpoints::toRobotCoordinates(), UPosition::x, and UPosition::z.

Referenced by UFuncObj3d::handleCloud().

bool UResObj3d::do3dVoxels	(	UImg3Dpoints *	cloud,
		bool	justHuman,
		bool	doImg
	)

find candidates for human detections. Estimates the ground plane from 3D cloud. Isolates 3D voxel volumens, and filter human sized volumens.

Parameters

cloud	the 3D cloud to be processed.
justHuman	save only those obstacles that are classified human (else all obstacles)
doImg	if true, then more debug images are produced.

Returns: true if human voxels were found. The human candidates are saved in the class.

References UGridBBoxes::bb, UGridBBoxes::bbCnt, UImg3Dpoint::blue(), UImage::camDevice, UImage::clear(), UImage::cvArr(), UGridBBox::footprint, UImagePool::getImage(), UResPoseHist::getPoseAtTime(), UTime::getTimePassed(), UImg3Dpoint::gray(), UGridBBox::human, UImage::imageNumber, UImage::imgTime, MAX_IMG_NAME_SIZE, UImage::name, UTime::now(), UImg3Dpoints::p3d, UImg3Dpoints::p3dCnt, UImg3Dpoint::pos, UImg3Dpoint::red(), UImg3Dpoints::serial, UImage::setSize(), UPoseTime::t, UImg3Dpoints::time, UImg3Dpoints::toRobotCoordinates(), UImage::updated(), UGridBBox::valid, and UPosition::x.

Referenced by UFuncObj3d::handleCloud().

void UResObj3d::doGndPlaneMask	(	int	maskImgNum,
		UPlane	plane,
		UImg3Dpoints *	cloud,
		double	cellSize,
		double	planeDist,
		bool	erode,
		bool	dilate
	)

Paint ground plane in-laiers, and do the needed filtering for use as visible ground cells

Parameters

maskImgNum	is the image number in inage pool for result mask image
plane	is the best estimated ground plane.
cloud	is the clouds to include in the mask
cellSize	is the image cell sixe
planeDist	is the maximum distance from ground-plane to cloud-point to put in mask
erode	erode one more than dilate
dilate	dilate and erode (once)

References UImage::camDevice, UImage::clear(), UImage::cvArr(), UPlane::dist(), UImagePool::getImage(), UImage::imageNumber, UImage::imgTime, MAX_IMG_NAME_SIZE, UImage::name, UImg3Dpoints::p3d, UImg3Dpoints::p3dCnt, UImg3Dpoint::pos, roundi(), UImg3Dpoints::serial, UImage::setPixUChar(), UImage::setSize(), UImg3Dpoints::time, UImage::updated(), UPosition::x, and UPosition::y.

int UResObj3d::findContour	(	UImage *	imgMask,
		UImage *	dest,
		CvPoint *	flp,
		int	flpMax,
		bool *	tooHigh,
		bool *	tooSmall,
		bool	lookingLeft
	)

protected

Test routine to segment patches of 3D detection

References UImage::cvArr(), and UTime::Now().

float UResObj3d::findMostDistantVertex	(	const CvPoint	pnts[],
		const int	pntsCnt,
		int *	idx
	)

protected

get most distant vertex from line between endpoints

Parameters

pnts	is first element in array of (pixel) points
pntsCnt	is number of elements to be investigated
idx	is pointer, where index of most distant vertex is to be returned.

Returns: distance (signed) of most distannt vertex to the line between endpoints.

References U2Dline::distanceSigned(), and U2Dline::set2P().

CvSeqBlock * UResObj3d::findPolygonLargest	(	UImage *	img,
		int *	leftEdge,
		int *	rightEdge
	)

protected

Find largest blob in this image using openCV segmentation.

Parameters

img	is the 8-bit gray scale image, where contours with value >0 searched.
leftEdge	will retruen the image left edge of the largest polygon if not NULL
rightEdge	will retruen the image right edge of the largest polygon if not NULL

Returns: a pointer to the largest contour block.

References a, and UImage::cvArr().

int UResObj3d::findPolygons	(	UImage *	img,
		UImage *	imgD,
		UImg3Dpoint **	ps,
		const int	psCnt,
		int	scale
	)

protected

Extract polygons for z-slizes in this image.

Parameters

img	is the source BW image
imgD	is a potential debug image where to paint the polygon
ps	is the original slized 3D point cloud
psCnt	is the number of points in the source point cloud
pd	is the destination array for filtered polygon
pdCnt	is the allocated number of elements in that polygon
scale	is the number of pixels in source image for each pixel in profile image

Returns: number of polygon points in pd.

References UPolygon::add(), UPolygon::clear(), UImage::cvArr(), UPolygon40::MAX_POINTS, and UImg3Dpoint::pos.

int UResObj3d::findPolygonsOne	(	CvSeqBlock *	block,
		UImg3Dpoint **	ps,
		const int	psCnt,
		UImg3Dpoint **	pd,
		const int	pdCnt,
		const int	maxPoints,
		int	scale
	)

protected

Extract just one polygon.

Parameters

block	is the structure to be converted
ps	is the original slized 3D point cloud
psCnt	is the number of points in the source point cloud
pd	is the destination array for filtered polygon
pdCnt	is the allocated number of elements in pd destination array
scale	is the number of pixels in source image for each pixel in profile image

Returns: number of found points in pd array

References UImg3Dpoint::column, UImg3Dpoint::q, and UImg3Dpoint::row.

int UResObj3d::findPolygonsOnEdge	(	CvSeqBlock *	block,
		UImg3Dpoint **	ps,
		const int	psCnt,
		int	scale,
		int	leftEdge,
		int	rightEdge,
		int	distLimit
	)

protected

Extract ground edge polygons, as obstacles. The polygons are returned in gnds[gndsCnt] The method is to convert edges on top line of the polygon in 'block' into obstacles, if thay are not on the left or right edge, and not further away than the distance limit (distLimit)

Parameters

block	is the structure to be converted
ps	is the original slized 3D point cloud
psCnt	is the number of points in the source point cloud
scale	is the number of pixels in source image for each pixel in profile image
leftEdge	is the left edge of the obstacle area (visibility limit)
rightEdge	is the right edge of the obstacle area (visibility limit)
distLimit	is the distance limit "visibility limit"

Returns: number of found obstacle polygons in gnds

References UPolygon::add(), UPolygon::clear(), UImg3Dpoint::column, UPolygon::extractConvexTo(), UPolygon::getPointsCnt(), UImg3Dpoint::pos, UImg3Dpoint::q, UImg3Dpoint::row, UPosition::x, UPosition::y, and UPosition::z.

bool UResObj3d::get3dCloud	(	const char *	source,
		UImg3Dpoints **	cloud
	)

Get the point cloud from ing3d cloud source. The cloud is actually stored in the svs module, and a pointer the coud is provided only. Remember to lock it while processing and release after use.

Parameters

source	is a string with the plug-in name of the source, i.e. a 'source'.get3d() method call must be available (see var 'source').
cloud	is where the function returns a pointer to the 3D point cloud, if any is found.

Returns: true if a cloud is found.

References data, and UDataBase::isA().

Referenced by UFuncObj3d::handleCloud().

bool UResObj3d::get3dCloudFromSvs	(	bool	getAny,
		UImg3Dpoints **	cloud
	)

Get the newest point cloud from svs. The cloud is actually stored in the svs module, and a pointer the coud is provided only. Remember to lock it while processing and release after use.

Parameters

getAny	if false, then an imageset with a new serial number is accepted, else any serial number will do
cloud	is where the function returns a pointer to the 3D point cloud, if any is found.

Returns: true if a cloud is found.

References data, UDataBase::isA(), and roundi().

Referenced by UFuncObj3d::handleCloud().

int UResObj3d::getBlockArea	(	CvSeqBlock *	block,
		int *	leftEdge,
		int *	rightEdge
	)

private

Get area of a openCV CvSeqBlk structure. The method is (sum(x1*y2 - x2*y1))/2 for all points and the first as the last. Calculating in integer space.

Parameters

block is the block in question

Returns: the area (in integer)

UPlane UResObj3d::getGroundPlane ( )

inline

get estimated ground plane

Returns: the estimated plane in robot coordinates

Referenced by UFuncObj3d::handleCloud().

double UResObj3d::getGroundPlaneQuality ( )

inline

get the quality of the ground-plane Quality is the relative count of ponts in the ground plane, relative to all points

Returns: the quality figure.

References img.

Referenced by UFuncObj3d::handleCloud().

void UResObj3d::getObstacleGroupSettings ( UObj3dGroup * og )

virtual

Load parameter values from current settings pool to this obstacle group

Reimplemented from UObj3dPool.

References UObj3dGroup::setMergeDistance().

UImage * UResObj3d::makeGroundPlaneProfileImage	(	int	inum1,
		int	inum2,
		UImg3Dpoint **	cloudPts,
		int	cloudPtsCnt,
		int	scale
	)

protected

Find ground polygons using an image (profile) projection of the pixel inliers for the estimated ground plane,

Parameters

inum1	is the image pool number to be used for the source image
inum2	is the other image pool number to use for interim data
cloudPts	is the inliers close to the ground plane
cloudPtsCnt	is the number of points
scale	is the pixel size if the filter image for each source image.

Returns: the image with the ground plane profile in camera coordinates

References UImage::clear(), UImg3Dpoint::column, UImage::cvArr(), UImagePool::getImage(), img, MAX_IMG_NAME_SIZE, UImage::name, UImage::setPixUChar(), UImage::setSize(), and UImage::updated().

void UResObj3d::obstDataUpdated ( UTime poseTime )

virtual

Obstacle data is updated - tell resource

Reimplemented from UObj3dPool.

Referenced by UFuncObj3d::handleCommand().

void UResObj3d::paintGndPlane	(	int	imgNum,
		UImg3Dpoints *	cloud,
		double	maxX,
		double	maxZ,
		bool	andBoxes,
		bool	andGndPolygons
	)

protected

Paint all 3D points in the ground plane in xz view and in xy view

Parameters

imgNum	is the image pool image number to use
cloud	is the cloud of 3D points
maxX	is the maximum X value in image
maxZ	is the maximum Z distance from ground plane to paint
andBoxes	should bounding boxes be painted too
andGndPolygons	paint also the polygons in the gnsd array

References UGridBBoxes::bb, UGridBBoxes::bbCnt, UImage::camDevice, UImage::clear(), UImage::cvArr(), UGridBBox::footprint, UGridBBox::getCol(), UImagePool::getImage(), UPose::getMapToPose(), UResPoseHist::getNewest(), UPolygon::getPoints(), UPolygon::getPointsCnt(), UImage::height(), UGridBBox::human, UImage::imageNumber, UImage::imgTime, MAX_IMG_NAME_SIZE, UImage::name, UImg3Dpoints::p3d, UImg3Dpoints::p3dCnt, UImage::paintGridAligned(), UImg3Dpoint::pos, UGridBBox::roof, roundi(), UImg3Dpoints::serial, UImage::setSize(), UGridBBox::sideView, UImg3Dpoints::time, UPixel::toCvRGB(), UImg3Dpoints::toRobotCoordinates(), UImage::updated(), UGridBBox::valid, UImage::width(), UPosition::x, UPosition::y, and UPosition::z.

void UResObj3d::paintPolygonInImage	(	UImage *	img,
		UImg3Dpoint **	pd,
		const int	pdCnt
	)

protected

Paint a polyline in this image from these points

References UImg3Dpoint::column, UImage::cvArr(), UImg3Dpoint::row, and UImage::updated().

virtual const char* UResObj3d::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

inlinevirtual

print status to a string buffer

Reimplemented from UResVarPool.

const char * UResObj3d::snprint	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

print status to a string buffer

References mini(), and UObstacleGroup::print().

void UResObj3d::UResObj3dInit ( )

private

Remaining initialization

Member Data Documentation

UPlane UResObj3d::gndPlaneC

protected

best groundplane found in camera coordinates

double UResObj3d::gndPlaneQ

protected

quality - percentage of pixels in gndPlane

UPlane UResObj3d::gndPlaneR

protected

best groundplane found in robot coordinates

UTime UResObj3d::gndPlaneTime

protected

detection time for current ground plane estimate

UPolygon40* UResObj3d::gnds[MAX_GND_POLYGONS]

protected

array of polygons

int UResObj3d::gndsCnt

protected

Number of actual polygons

UGrid3D* UResObj3d::grid

protected

voxel grid for filtering in 3D image

unsigned int UResObj3d::lastSvsSerial

protected

Lase serial number for image (svs) source

ULogFile UResObj3d::loghum

protected

human logfile

const int UResObj3d::MAX_GND_POLYGONS = 50

staticprotected

UObj3dPool* UResObj3d::pool

protected

Storage for detected obstacles

CvMemStorage* UResObj3d::storage

protected

Storage used by openCV

UVariable* UResObj3d::varBBmaxDX

protected

box finder parameter maximum X extend

UVariable* UResObj3d::varBBmaxDY

protected

max box (human) filter y extend

UVariable* UResObj3d::varBBmaxZ

protected

maximum height for human finder

UVariable* UResObj3d::varBBmerge

protected

should bounding boxex be allowed to merge

UVariable* UResObj3d::varBBminVoxCnt

protected

minimum voxel cound

UVariable* UResObj3d::varBBminX

protected

humans closer to camera than this is assumed an error

UVariable* UResObj3d::varBBminZ

protected

humans lower than this are ignored

UVariable* UResObj3d::varCombineDist

protected

Index to variable in variable pool for fast access - obstacle merge distance (outdoor)

UVariable* UResObj3d::varDistMaxX

protected

index to maximum usable 3D distance

UVariable* UResObj3d::varGndFilter

protected

should ground filter on voxels be used

UVariable* UResObj3d::varGndFilterCell

protected

filter cell size, compared to voxed cell size (0.5 gives 4 times as many cellse)

UVariable* UResObj3d::varGndFilterDilate

protected

should ground filter on voxels be dilate-eroded

UVariable* UResObj3d::varGndFilterErode

protected

should ground filter on voxels be eroded 1 more than dilate

UVariable* UResObj3d::varGndMaxZ

protected

index to maximum Z for gorund finding

UVariable* UResObj3d::varGndMinQ

protected

minimum quality (share of inliers relative to all) to use plane estamate

UVariable* UResObj3d::varGndMinZ

protected

index to minimum Z for gorund finding

UVariable* UResObj3d::varGndPolyScale

protected

number of pixels per ground polygin image pixel before segmentation

UVariable* UResObj3d::varGndRedFac

protected

point reduction factor for ground estimate (to save time) def = 3

UVariable* UResObj3d::varGridSize

protected

voxel cell size (in meter)

UVariable* UResObj3d::varGroup

protected

newest obstacle group

UVariable* UResObj3d::varGrpMaxDist

protected

Index to variable in variable pool for fast access - max pose distance in one group

UVariable* UResObj3d::varGrpMaxTime

protected

Index to variable in variable pool for fast access - max time spend in one group

UVariable* UResObj3d::varGrps

protected

number of obstacle groups in pool

UVariable* UResObj3d::varMinDens

protected

minimum voxel density per footprint square meter

UVariable* UResObj3d::varMinDensCnt

protected

minimum voxel density to be tested for voxel blobs with up to this number of cells

UVariable* UResObj3d::varMinRoofHgt

protected

minimum height for roof obstacles

UVariable* UResObj3d::varObstMerge

protected

Index to variable in variable pool for fast access - should obstacles actually be merged (mostly for debug if false)

UVariable* UResObj3d::varUpdateTime

protected

Time (tod) of last obstacle update

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation