Inheritance diagram for UFuncStraightLine:

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

	UFuncStraightLine ()

virtual	~UFuncStraightLine ()

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 ()

bool	crop (UImage img, UImage cropImg)

bool	find2ndPeak (std::vector< int > peaks, std::vector< int > proms, std::vector< int > locs, int promLim, int peak2, int i2, int prom2, int peak1, int i1, int *prom1)

bool	findAB (int xc, int yc, int x, int y, double a, double b)

bool	findABD (double xc, double yc, double x, double y, double a, double b)

bool	findDiagonalPoint (UImage bwImg, double a, double b, int xVanish, int yVanish, UImage testImg, std::vector< int > maxInfo, std::vector< int > maxInfo1, std::vector< int > *maxInfo2, bool debug)

bool	findHorizontalPoint (UImage bwImg, double a, double b, UImage testImg, std::vector< int > *maxInfo)

bool	findLines (UImage bwImg, int xc, int yc, int extra, std::vector< int > lines, UImage *testImg)

bool	findpeaks (std::vector< int > lines, std::vector< int > peaks, std::vector< int > proms, std::vector< int > locs)

bool	findWoldPoints (double xTmp, double yTmp, double dist, UCamPush cam)

bool	GLR (UImage img, UImage GLRImg, int M, bool reset)

double	mean (UImage *img)

bool	polygonToPolyPlugin (UPolygon poly, const char name, int coordinateSystem)

bool	printLine (UImage testImg, std::vector< int > maxInfo, double a, double b)

bool	threshold (UImage glrImg, UImage bwImg, int limit)

bool	toRobot (int xVanish, int yVanish, UCamPush cam, UImage testImg, std::vector< int > maxInfo, std::vector< int > maxInfo1, std::vector< int > *maxInfo2, bool result2, int side)

void	toWorld (UImage testImg, std::vector< double > line1, std::vector< double > *line2, int side)

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	aimNumber

int	lineNumber

std::vector< int > *	lines

std::vector< int > *	locs

std::vector< int > *	peaks

std::vector< int > *	proms

UVariable *	varPoolImg
	pointer to limiting red values redMin, redMax, greenMin, greenMax More...

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

UFuncStraightLine::UFuncStraightLine ( )

inline

Constructor

References createBaseVar(), lines, locs, peaks, proms, and UFunctionBase::setCommand().

virtual UFuncStraightLine::~UFuncStraightLine ( )

inlinevirtual

Destructor - to delete the resource (etc) when finished

References lines, locs, peaks, and proms.

Member Function Documentation

void UFuncStraightLine::createBaseVar ( )

inlineprotected

Make the variables that will be available to other plugins

References UResVarPool::addVar(), and varPoolImg.

Referenced by UFuncStraightLine().

bool UFuncStraightLine::crop	(	UImage *	img,
		UImage *	cropImg
	)

inlineprotected

Crop image to half vertical size

Parameters

img	original image grab by the camera
cropImg	destiantion img for the cropped image

Returns: true always

References UImage::copyMeta(), UImage::getCharRef(), UImage::getHeight(), UImage::getPixRef(), UImage::getWidth(), UPixel::p3, UImage::setSize(), and UImage::updated().

Referenced by handleCommand().

bool UFuncStraightLine::find2ndPeak	(	std::vector< int > *	peaks,
		std::vector< int > *	proms,
		std::vector< int > *	locs,
		int	promLim,
		int *	peak2,
		int *	i2,
		int *	prom2,
		int *	peak1,
		int *	i1,
		int *	prom1
	)

inlineprotected

Returns: true always

Referenced by findDiagonalPoint().

bool UFuncStraightLine::findAB	(	int	xc,
		int	yc,
		int	x,
		int	y,
		double *	a,
		double *	b
	)

inlineprotected

Returns: true always

Referenced by findHorizontalPoint(), findLines(), printLine(), and toRobot().

bool UFuncStraightLine::findABD	(	double	xc,
		double	yc,
		double	x,
		double	y,
		double *	a,
		double *	b
	)

inlineprotected

Returns: true always

Referenced by findWoldPoints(), toRobot(), and toWorld().

bool UFuncStraightLine::findDiagonalPoint	(	UImage *	bwImg,
		double *	a,
		double *	b,
		int *	xVanish,
		int *	yVanish,
		UImage *	testImg,
		std::vector< int > *	maxInfo,
		std::vector< int > *	maxInfo1,
		std::vector< int > *	maxInfo2,
		bool	debug
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

References find2ndPeak(), findLines(), findpeaks(), UImage::getHeight(), UImage::getWidth(), lines, locs, peaks, printLine(), and proms.

Referenced by handleCommand().

bool UFuncStraightLine::findHorizontalPoint	(	UImage *	bwImg,
		double *	a,
		double *	b,
		UImage *	testImg,
		std::vector< int > *	maxInfo
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

References a, findAB(), findLines(), findpeaks(), UImage::getHeight(), UImage::getWidth(), lines, locs, peaks, and proms.

Referenced by handleCommand().

bool UFuncStraightLine::findLines	(	UImage *	bwImg,
		int *	xc,
		int *	yc,
		int	extra,
		std::vector< int > *	lines,
		UImage *	testImg
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

References findAB(), UImage::getCharRef(), UImage::getHeight(), and UImage::getWidth().

Referenced by findDiagonalPoint(), and findHorizontalPoint().

bool UFuncStraightLine::findpeaks	(	std::vector< int > *	lines,
		std::vector< int > *	peaks,
		std::vector< int > *	proms,
		std::vector< int > *	locs
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

Referenced by findDiagonalPoint(), and findHorizontalPoint().

bool UFuncStraightLine::findWoldPoints	(	double *	xTmp,
		double *	yTmp,
		double *	dist,
		UCamPush *	cam
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

References findABD(), UCamRad::getCamPar(), UCamPar::getFocalLength(), UCamMounted::getPosRot(), UPosRot::getRtoMMatrix(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by toRobot().

bool UFuncStraightLine::GLR	(	UImage *	img,
		UImage *	GLRImg,
		int	M,
		bool	reset
	)

inlineprotected

Detect intensity in a grayscle image

Parameters

img	source grayscale image
GLRImg	destiantion grayscale image
M	the Window size used by the GLR algorithm

Returns: true always

References UImage::getCharRef(), UImage::getHeight(), UImage::getWidth(), mean(), and UImage::updated().

Referenced by handleCommand().

virtual bool UFuncStraightLine::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 a, bool2str(), UImage::camDevice, UFunctionCamBase::camPool, UImage::copy(), UImage::copyMeta(), crop(), findDiagonalPoint(), findHorizontalPoint(), USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), USmlTagIn::getAttValueInt(), UCamPool::getCam(), UFunctionCamBase::getCamAndRawImage(), UImage::getHeight(), UImagePool::getImage(), UVariable::getInt(), UImage::getIplImage(), UImage::getWidth(), GLR(), img, UFunctionImgBase::imgPool, UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UImage::setSize(), UServerInMsg::tag, threshold(), toRobot(), UImage::updated(), and varPoolImg.

double UFuncStraightLine::mean ( UImage * img )

inlineprotected

Calculate mean pixel value in grayscale image

Parameters

img	image to find the mean pixel value from

Returns: the mean pixel value

References UImage::getCharRef(), UImage::getHeight(), and UImage::getWidth().

Referenced by GLR().

bool UFuncStraightLine::polygonToPolyPlugin	(	UPolygon *	poly,
		const char *	name,
		int	coordinateSystem
	)

inlineprotected

Calculate mean pixel value in grayscale image

Parameters

img	image to find the mean pixel value from

Returns: the mean pixel value

References UResVarPool::callGlobalV(), UVariable::getBool(), UFunctionBase::getStaticResource(), UVariable::setDouble(), and UVariable::setValues().

Referenced by toRobot(), and toWorld().

bool UFuncStraightLine::printLine	(	UImage *	testImg,
		std::vector< int > *	maxInfo,
		double *	a,
		double *	b
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

References a, findAB(), UImage::getHeight(), UImage::getPixRef(), UImage::getWidth(), UPixel::p3, and UImage::updated().

Referenced by findDiagonalPoint().

bool UFuncStraightLine::threshold	(	UImage *	glrImg,
		UImage *	bwImg,
		int	limit
	)

inlineprotected

Threshold an image to BW image

Parameters

glrImg	source of image to be threshold in grayscale.
bwImg	destination image in BW format
limit	The threshold to pass

Returns: true always

References UImage::getCharRef(), UImage::getHeight(), UImage::getWidth(), and UImage::updated().

Referenced by handleCommand().

bool UFuncStraightLine::toRobot	(	int *	xVanish,
		int *	yVanish,
		UCamPush *	cam,
		UImage *	testImg,
		std::vector< int > *	maxInfo,
		std::vector< int > *	maxInfo1,
		std::vector< int > *	maxInfo2,
		bool	result2,
		int	side
	)