UFuncImSeg Class Reference

Inheritance diagram for UFuncImSeg:

Public Member Functions
virtual bool	handleCommand (UServerInMsg *msg, void *extra)
	UFuncImSeg ()
virtual	~UFuncImSeg ()
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
int	cooccurrence (UImage *src, int x, int y, int dx, int dy, int side, float *m, int mCnt)
void	createBaseVar ()
int	doGrayLevelCooccurenceMatrix (UImage *srcImg, int x, int y, int side)
int	doHistMatch (int *h1, int *h2, int h1Cnt)
float	doHistMatchBhatta (int *h1, int *h2, int h1Cnt)
float	doHistMatchCorrel (int *h1, int *h2, int h1Cnt)
void	doLBPhistogramMatch (UImage *srcImg, int side, int step, bool debug)
int	doPatchHistogram (UImage *src, int x, int y, int side, int *h1, int h1Cnt)
int	doPatchHistogramLBP8 (UImage *src, int x, int y, int side, int *h1, int h1Cnt)
float	findBestCoooccurrence (UImage *src, int x, int y, int *dxMin, int *dyMin, int side)
bool	findSegments (UImage *img, bool debug)
void	makeDisplayPolygon (UPosition *centerPos, bool isBlue, double size, UTime imgTime)
bool	makeLBPimage (UImage *img, bool debug)
bool	meanShiftSegment (UImage *img, bool debug)
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
UPosition	ballPos
	most likely ball position in robot coordinates More...
CvBox2D32f	ell [MAX_ELL_CNT]
	resulting ellipses found in image More...
int	ellCnt
	number of ellipses found More...
int	imgSizeH
	size of source image in pixels More...
int	imgSizeW
	size of source image in pixels More...
UVariable *	varDistance
UVariable *	varOutPoolImg
	pointer to limiting red values redMin, redMax, greenMin, greenMax More...
UVariable *	varRadius
UVariable *	varSeed
UVariable *	varSeedSize

Static Private Attributes
static const int	MAX_ELL_CNT = 100

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

UFuncImSeg::UFuncImSeg ( )

inline

Constructor

References createBaseVar(), ellCnt, and UFunctionBase::setCommand().

virtual UFuncImSeg::~UFuncImSeg ( )

inlinevirtual

Destructor - to delete the resource (etc) when finished

Member Function Documentation

int UFuncImSeg::cooccurrence ( UImage *  src, int  x, int  y, int  dx, int  dy, int  side, float *  m, int  mCnt  )

inlineprotected

References UImage::getCharRef(), UImage::height(), and UImage::width().

Referenced by findBestCoooccurrence().

void UFuncImSeg::createBaseVar ( )

inlineprotected

Make the variables that will be available to other plug-ins

References UResVarPool::addVar(), UResVarPool::addVarA(), varDistance, varOutPoolImg, varRadius, varSeed, and varSeedSize.

Referenced by UFuncImSeg().

int UFuncImSeg::doGrayLevelCooccurenceMatrix ( UImage *  srcImg, int  x, int  y, int  side  )

inlineprotected

compare and count co-occurance matrix around point x,y in an area around x,y of dx, dy

Parameters

src	a 8-bit gray level image
dest	is the coocurrance result image
x,y	is the center position in the area
dx,dy	is the width and height of the ROI
returns	the number of pixels in the area, this is less than dx*dy if too close to a border.

References UImage::copy(), UImage::cvArr(), findBestCoooccurrence(), UImagePool::getImage(), UVariable::getInt(), UFunctionImgBase::imgPool, UImage::toBW(), UImage::updated(), and varOutPoolImg.

Referenced by handleCommand().

int UFuncImSeg::doHistMatch ( int *  h1, int *  h2, int  h1Cnt  )

inlineprotected

Referenced by doLBPhistogramMatch().

float UFuncImSeg::doHistMatchBhatta ( int *  h1, int *  h2, int  h1Cnt  )

inlineprotected

Referenced by doLBPhistogramMatch().

float UFuncImSeg::doHistMatchCorrel ( int *  h1, int *  h2, int  h1Cnt  )

inlineprotected

Referenced by doLBPhistogramMatch().

void UFuncImSeg::doLBPhistogramMatch ( UImage *  srcImg, int  side, int  step, bool  debug  )

inlineprotected

Converts source image to BW, then to 8-bit LBP image, and makes a patch histogram for each of the 8 bits, and compare these in a result image, that should show edges of segments

Parameters

srcImg	is source image (any format)
side	is the side length of patch

References absf(), UImage::clear(), UImage::copyMeta(), doHistMatch(), doHistMatchBhatta(), doHistMatchCorrel(), doPatchHistogramLBP8(), UImage::getCharRef(), UImagePool::getImage(), UVariable::getInt(), UImage::height(), UImage::imageNumber, UFunctionImgBase::imgPool, makeLBPimage(), UImage::name, UImage::setSizeOnly(), UImage::updated(), varOutPoolImg, and UImage::width().

Referenced by handleCommand().

int UFuncImSeg::doPatchHistogram ( UImage *  src, int  x, int  y, int  side, int *  h1, int  h1Cnt  )

inlineprotected

Histogram with 256 values, one for each gray scale value

Parameters

src	is the source image that is supposed to be LPB converted
x,y	is the center of the patch
side	is the side length of the patch
h1	is the destination histogram - size 256 x integer
h1Cnt	should be (at least) 256

Returns

the number of pixels used for patch - will be less near the border

References UImage::getCharRef(), UImage::height(), and UImage::width().

int UFuncImSeg::doPatchHistogramLBP8 ( UImage *  src, int  x, int  y, int  side, int *  h1, int  h1Cnt  )

inlineprotected

Histogram vith 8 values, one for each of the gradients around the the center pixel

Parameters

src	is the source image that is supposed to be LPB converted
x,y	is the center of the patch
side	is the side length of the patch
h1	is the destination histogram - size 8 x integer
h1Cnt	should be (at least) 8

Returns

the number of pixels used for patch - will be less near the border

References UImage::getCharRef(), UImage::height(), and UImage::width().

Referenced by doLBPhistogramMatch().

float UFuncImSeg::findBestCoooccurrence ( UImage *  src, int  x, int  y, int *  dxMin, int *  dyMin, int  side  )

inlineprotected

References cooccurrence(), UImagePool::getImage(), UVariable::getInt(), UFunctionImgBase::imgPool, UImage::setPixChar(), UImage::setSize(), UImage::updated(), and varOutPoolImg.

Referenced by doGrayLevelCooccurenceMatrix().

bool UFuncImSeg::findSegments ( UImage *  img, bool  debug  )

inlineprotected

Find segments in this image

Parameters

img	is a pointer to the image to be analysed
debug	if true, then more images are produced in the image pool

Returns

true if at least one red ball is found

References UImAna::findRoadPoly(), UVariable::getDouble(), UVariable::getInt(), UFunctionBase::getStaticResource(), UImage::height(), UFunctionImgBase::imgPool, imgSizeH, imgSizeW, UImAna::setImagePool(), varDistance, varRadius, varSeed, varSeedSize, and UImage::width().

Referenced by handleCommand().

virtual bool UFuncImSeg::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 doGrayLevelCooccurenceMatrix(), doLBPhistogramMatch(), findSegments(), USmlTagIn::getAttBool(), USmlTagIn::getAttInteger(), USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), UFunctionCamBase::getImage(), USmlTagIn::getTagName(), img, makeLBPimage(), meanShiftSegment(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), and UServerInMsg::tag.

void UFuncImSeg::makeDisplayPolygon ( UPosition *  centerPos, bool  isBlue, double  size, UTime  imgTime  )

inlineprotected

copy ball position to polygon plugin, so that it can be shown by client in top-view image

Parameters

centerPos	is center position of ball on ground
isBlue	is color of ball
size	is size in meters of ball

References UPolygon::add(), UResPoly::add(), ballPos, UPolygon::clear(), UPolyItem::cooSys, UResPoly::getItem(), UResPoseHist::getPoseAtTime(), UPose::getPoseToMap(), UFunctionBase::getStaticResource(), UResPoly::gotNewData(), ULock::lock(), UPolygon::setAsPolygon(), UPolygon::setColor(), ULock::unlock(), UPolyItem::updateTime, UPosition::x, UPosition::y, and UPosition::z.

bool UFuncImSeg::makeLBPimage ( UImage *  img, bool  debug  )

inlineprotected

Find segments in this image based on LBP (local binary pattern)

Parameters

img	is a pointer to the image to be analysed
debug	if true, then more images are produced in the image pool

Returns

true if at least one red ball is found

References UImage::copyMeta(), UImage::fromMat(), UImagePool::getImage(), UVariable::getInt(), UImage::getLine(), UFunctionBase::getStaticResource(), UImage::height(), UFunctionImgBase::imgPool, imgSizeH, imgSizeW, UImage::mat, UImage::toBW(), UImage::toMat(), UImage::updated(), varOutPoolImg, and UImage::width().

Referenced by doLBPhistogramMatch(), and handleCommand().

bool UFuncImSeg::meanShiftSegment ( UImage *  img, bool  debug  )

inlineprotected

Try a mean shift segmentation

References UImage::copyMeta(), UImage::cvArr(), UImagePool::getImage(), UVariable::getInt(), UImage::getIplImage(), UImage::getLine(), UImage::getUCharRef(), UImage::height(), UFunctionImgBase::imgPool, UPixel::p1, UPixel::p2, UPixel::p3, UImage::toRGBA(), UImage::updated(), varDistance, varOutPoolImg, varRadius, and UImage::width().

Referenced by handleCommand().

Member Data Documentation

UPosition UFuncImSeg::ballPos

private

most likely ball position in robot coordinates

Referenced by makeDisplayPolygon().

CvBox2D32f UFuncImSeg::ell[MAX_ELL_CNT]

private

resulting ellipses found in image

int UFuncImSeg::ellCnt

private

number of ellipses found

Referenced by UFuncImSeg().

int UFuncImSeg::imgSizeH

private

size of source image in pixels

Referenced by findSegments(), and makeLBPimage().

int UFuncImSeg::imgSizeW

private

size of source image in pixels

Referenced by findSegments(), and makeLBPimage().

const int UFuncImSeg::MAX_ELL_CNT = 100

staticprivate

UVariable* UFuncImSeg::varDistance

private

Referenced by createBaseVar(), findSegments(), and meanShiftSegment().

UVariable* UFuncImSeg::varOutPoolImg

private

pointer to limiting red values redMin, redMax, greenMin, greenMax

Referenced by createBaseVar(), doGrayLevelCooccurenceMatrix(), doLBPhistogramMatch(), findBestCoooccurrence(), makeLBPimage(), and meanShiftSegment().

UVariable* UFuncImSeg::varRadius

private

Referenced by createBaseVar(), findSegments(), and meanShiftSegment().

UVariable* UFuncImSeg::varSeed

private

Referenced by createBaseVar(), and findSegments().

UVariable* UFuncImSeg::varSeedSize

private

Referenced by createBaseVar(), and findSegments().

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

• ufuncimseg.cpp