Inheritance diagram for UFuncFz:

Public Member Functions
virtual bool	handleCommand (UServerInMsg msg, void extra)

	UFuncFz ()

virtual	~UFuncFz ()

Public Member Functions inherited from UFunctionCamBase
virtual void	createResources ()

UImage *	getImage (UServerInMsg msg, void extra)

virtual bool	setResource (UResBase *ressource, bool remove)

	UFunctionCamBase ()

virtual	~UFunctionCamBase ()

Public Member Functions inherited from UFunctionImgBase
virtual void	setCmdHandler (UCmdExe *cmdExe)

void	showImagesAsDefault (bool show)

	UFunctionImgBase ()

virtual	~UFunctionImgBase ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

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 ()

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)

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

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)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

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

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	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
void	createBaseVar ()

void	doClassify (UImage *imgsrc, bool init, bool newdata, int iter)

UPixel	getCroma (UPixel *src, int sourceFormat)

int	getPixelClass (UPixel src, int clustCnt)

bool	initializeClassesFromLine (UImage *imgfz)

void	loadNewImage (UImage *imgfz)

void	paintClustEllipse (bool isUV, UMatrix mV, UMatrix mQ, UImage *img, int clust)

void	paintClustPixels (bool isUV, UImage imgsrc, UImage imgUV)

void	paintColoredImage (UImage imgsrc, UImage imgfz, UImage *imgDbg)

Protected Member Functions inherited from UFunctionCamBase
UCamPush *	getCam (int imgDevice, const char *posName)

UCamPush *	getCam (int camDevNum)

bool	getCamAndRawImage (UCamPush cam, UImage imgRaw, int imgDevice, void imgBase, const char *posName, int rectfiedImg)

int	getDefaultCamDevice ()

Protected Member Functions inherited from UFunctionImgBase
bool	sendImage (UServerInMsg msg, const char tagName, UImage imgRgb, int imgLeft=0, int imgTop=0, int imgWidth=640, int imgHeight=480, int imgSource=-1, bool isCodecBin=true, bool imgIsBW=false, bool imgGetNum=true, bool imgGetTod=true, bool imgGetTime=false, const char posName=NULL, bool imgGetName=true, bool silent=false)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

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

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

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...

Private Attributes
int	classesCnt

bool	debug
	debug flag - for more printout More...

UFuzzyPixel *	ems1 [MES]

UFuzzyPixel *	ems2 [MES]
	not road More...

UFuzzyPixel *	ems3 [MES]
	darkish More...

UFuzzyPixel *	ems4 [MES]
	brightish More...

UFuzzySplit *	fuzzy

UImage *	imgBuf

UFuzzyPixel **	seed
	brightish More...

int	seedCnt

int	seedCntMax

UVariable *	varFzFormat
	format to classify in More...

UVariable *	varFzIter
	fuzzy seed size More...

UVariable *	varFzRoad
	looking for road drom line in image More...

UVariable *	varFzRoadCol
	road is in this column (on line) More...

UVariable *	varFzRoadLine
	looking for road using this line More...

UVariable *	varRedFac
	format to classify in More...

UVariable *	varSrcImg
	source image More...

UVariable *	varTmpImg
	temporary image pool image to use More...

Static Private Attributes
static const int	MES = 1000

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

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Attributes inherited from UFunctionCamBase
UCamPool *	camPool

Protected Attributes inherited from UFunctionImgBase
UImagePool *	imgPool

Protected Attributes inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

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 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...

Detailed Description

Example plugin to find balls in camera image

Author: Christian Andersen

Constructor & Destructor Documentation

UFuncFz::UFuncFz ( )

inline

Constructor

References classesCnt, createBaseVar(), debug, ems1, ems2, ems3, ems4, fuzzy, imgBuf, MES, seed, seedCnt, seedCntMax, and UFunctionBase::setCommand().

virtual UFuncFz::~UFuncFz ( )

inlinevirtual

Destructor - to delete the resource (etc) when finished

References ems1, ems2, ems3, ems4, MES, seed, and seedCntMax.

Member Function Documentation

void UFuncFz::createBaseVar ( )

inlineprotected

Make the variables that will be available to other plugins

References UResVarPool::addVar(), varFzFormat, varFzIter, varFzRoad, varFzRoadCol, varFzRoadLine, varRedFac, varSrcImg, and varTmpImg.

Referenced by UFuncFz().

void UFuncFz::doClassify	(	UImage *	imgsrc,
		bool	init,
		bool	newdata,
		int	iter
	)

inlineprotected

Classify into 4 classes - road, not road, dark and bright.

Parameters

imgsrc	is source image in any format
init	should classes be initialized from line-column marking of road.
newdata	should new data be loaded into classifier
iter	should result be iterated - this number of times

References classesCnt, UFuzzySplit::classify(), UFuzzySplit::clear(), UFuzzySplit::countMembers(), UImage::cvArr(), debug, fuzzy, UImagePool::getImage(), UVariable::getInt(), UFuzzySplit::getMembCount(), UImage::getWidth(), UImage::height(), imgBuf, UFunctionImgBase::imgPool, initializeClassesFromLine(), UImage::isBGR(), UImage::isRGB(), UImage::isYUV(), loadNewImage(), ULock::lock(), maxi(), mini(), paintColoredImage(), UImage::toCromaBGR(), UImage::toRGB(), UImage::toYUV(), ULock::unlock(), UImage::updated(), varFzFormat, varFzRoadCol, varFzRoadLine, and varTmpImg.

Referenced by handleCommand().

UPixel UFuncFz::getCroma	(	UPixel *	src,
		int	sourceFormat
	)

inlineprotected

References UPixel::asBGR(), UPixel::p1, UPixel::p2, UPixel::p3, and PIX_PLANES_BGR.

int UFuncFz::getPixelClass	(	UPixel	src,
		int	clustCnt
	)

inlineprotected

References fuzzy, UFuzzyPixel::setPixel(), and UFuzzySplit::updateElement().

Referenced by paintClustPixels(), and paintColoredImage().

virtual bool UFuncFz::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

inlinevirtual

Handle incomming command Must return true if the function is handled - otherwise the client will get a 'failed' reply

Reimplemented from UFunctionBase.

References bool2str(), UImage::camDevice, UFunctionCamBase::camPool, debug, doClassify(), USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), USmlTagIn::getAttValueInt(), UCamPool::getCam(), UImagePool::getImage(), UVariable::getInt(), img, UFunctionImgBase::imgPool, UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UServerInMsg::tag, varFzIter, and varSrcImg.

bool UFuncFz::initializeClassesFromLine ( UImage * imgfz )

inlineprotected

References absi(), UFuzzySplit::addElement(), classesCnt, UFuzzySplit::clear(), ems1, ems2, ems3, ems4, fuzzy, UVariable::getInt(), UImage::getLine(), UPixel::getSum(), UImage::height(), UFuzzySplit::initFromValues(), UImage::isBGR(), UImage::isYUV(), maxi(), MES, mini(), UPixel::p1, UPixel::p2, UPixel::p3, UFuzzyPixel::setPixel(), varFzRoadCol, varFzRoadLine, and UImage::width().

Referenced by doClassify().

void UFuncFz::loadNewImage ( UImage * imgfz )

inlineprotected

Load new data into fuzzy classifier from this source image

References UFuzzySplit::addElement(), UFuzzySplit::clear(), fuzzy, UVariable::getInt(), UImage::getPixRef(), UImage::height(), seed, seedCnt, seedCntMax, UFuzzyPixel::setPixel(), varRedFac, and UImage::width().

Referenced by doClassify().

void UFuncFz::paintClustEllipse	(	bool	isUV,
		UMatrix *	mV,
		UMatrix *	mQ,
		UImage *	img,
		int	clust
	)

inlineprotected

References a, UMatrix::cols(), UImage::cvArr(), UMatrix4::eig2x2(), UMatrix::get(), maxi(), mini(), roundi(), UMatrix::rows(), and UMatrix::setRC().

void UFuncFz::paintClustPixels	(	bool	isUV,
		UImage *	imgsrc,
		UImage *	imgUV
	)

inlineprotected

References classesCnt, UImage::getLine(), getPixelClass(), UImage::height(), maxi(), mini(), UPixel::p2, UPixel::p3, roundi(), UImage::setPix(), UPixel::u, UPixel::v, and UImage::width().

void UFuncFz::paintColoredImage	(	UImage *	imgsrc,
		UImage *	imgfz,
		UImage *	imgDbg
	)

inlineprotected

Paint the result in a debug image of same size as source image, with two main classes as red (road) and blue (blue) and all other pixels as the original image

Parameters