#include <uresdisp.h>

Inheritance diagram for UResDisp:

Public Member Functions
void	createBaseVar ()

void	doRepaintImages ()

UNavPaint *	getNavPaint ()

bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	loadImgToPool (const char *imgName, const int imgPoolNum)

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

void	mouseRescale (bool shiftKey)

void	paintBold (bool bold)

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

void	run ()

void	setAutoHereNow (bool value)

void	setCROMASource (int cromaImg)

void	setIntensMax (int val)

void	setIntensMin (int val)

void	setNewDataNav ()

void	setRangeRingCnt (int value)

bool	setResource (UResBase *resource, bool remove)

void	setRobot (const char *robname)

void	setRobotPose (char *value)

void	setScale (double value)

void	setUVanalysisPosition (int x, int y)

void	setUvRedisplay (bool value)

void	setUVSource (int uvImg)

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

bool	start ()

void	stop (bool andWait)

void	test4NewImages ()

	UResDisp ()

void	UResDispInit ()

	~UResDisp ()

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)

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)

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	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 ()

Static Public Member Functions
static const char *	getResID ()

static int	getResVersion ()

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

Protected Member Functions
void	addImagePoolImg (int imgPoolNum)

bool	doFuzzyClassify (UImage *imgsrc)

UPixel	getCroma (UPixel *rgb, int sourceFormat)

int	getPixelClass (UPixel yuv, int clustCnt, bool isCROMA)

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

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

void	removeImagePoolImg (int imgPoolNum)

void	showUVImage (bool asCROMA)

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
ULock	dispSync

int	globalThresholdMax
	colour analysis intensity limits More...

int	globalThresholdMin
	colour analysis intensity limits More...

UImagePool *	imgPool

int	imgSourceCROMA

int	imgSourceUV

UNavPaint	navPaint

bool	newDataImgPool

UTime	newDataImgPoolAt

bool	newDataLaser

UTime	newDataLaserAt

bool	newDataNav

UTime	newDataNavAt

UResPoseHist *	poseHist

UResPoseHist *	poseMap

UResPoseHist *	poseUtm

UHighGuiWindowHandle	updList [UPD_LIST_MAX_CNT]

int	updListCnt

UVariable *	varAutoHereNow
	should coordinate systems be alligned at robot always More...

UVariable *	varBold
	paint bold More...

UVariable *	varNavImg

UVariable *	varPos
	pos of robot on top view More...

UVariable *	varRangeRings
	number of range rings to paint (each 1m) More...

UResVarPool *	varRoot

UVariable *	varRunning

UVariable *	varScale
	scale More...

UVariable *	varUseHighGUI
	should HIGHGUI be used to display images (conflict with gstream) More...

UVariable *	varUVCROMAmaxY
	used by the UV image and cromaticity image to limit colour display More...

UVariable *	varUVCROMAminY
	used by the UV image and cromaticity image to limit colour display More...

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	UPD_LIST_MAX_CNT = 100

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 Attributes
UImage *	imgBuf

bool	stopFlag

pthread_t	thDisp

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Detailed Description

Display of laserdata using the HIGHGUI library

    @author Christian <chrand@mail.dk>

Constructor & Destructor Documentation

UResDisp::UResDisp ( )

inline

Constructor

References globalThresholdMax, and globalThresholdMin.

UResDisp::~UResDisp ( )

Destructor

Member Function Documentation

void UResDisp::addImagePoolImg ( int imgPoolNum )

protected

Display this image, and redisplay, when updated

References UHighGuiWindowHandle::getImageNum(), and UHighGuiWindowHandle::setImage().

void UResDisp::createBaseVar ( )

Create basic polygon values

bool UResDisp::doFuzzyClassify ( UImage * imgsrc )

protected

Classify mouse sample and the-rest into two clusters

void UResDisp::doRepaintImages ( )

Repaint images in the image pool

References UHighGuiWindowHandle::getImageNum(), UTime::getTimePassed(), globalUvRedisplay, UHighGuiWindowHandle::isTime(), UTime::Now(), and UHighGuiWindowHandle::showImage().

UPixel UResDisp::getCroma	(	UPixel *	rgb,
		int	sourceFormat
	)

protected

Convert this BGR pixel to a cromatisity only pixel

UNavPaint* UResDisp::getNavPaint ( )

inline

Get top-view painter

Referenced by UFunctionDisp::handleCommand().

int UResDisp::getPixelClass	(	UPixel	yuv,
		int	clustCnt,
		bool	isCROMA
	)

protected

Get cluster number for this pixel. Must know the number of classes the pixels are divided into.

static const char* UResDisp::getResID ( )

inlinestatic

Fixed name of this resource type

static int UResDisp::getResVersion ( )

inlinestatic

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables.

bool UResDisp::gotAllResources	(	char *	missingThese,
		int	missingTheseCnt
	)

virtual

Is this resource missing any base ressources

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), UImagePool::getResClassID(), UResVarPool::getResClassID(), and UResVarPool::gotAllResources().

bool UResDisp::loadImgToPool	(	const char *	imgName,
		const int	imgPoolNum
	)

Load this image into the image pool

References UHighGuiWindowHandle::img, UImage::loadBMP(), UImage::loadPNG(), and UImage::updated().

Referenced by UFunctionDisp::handleCommand().

bool UResDisp::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	pars,
		double *	value,
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

The varPool has methods, and a call to one of these are needed. Do the call now and return (a double sized) result in 'value' and return true if the method call is allowed.

Reimplemented from UResVarPool.

void UResDisp::mouseRescale ( bool shiftKey )

Rescale based on Ctrl-mouse click or shift-ctrl click or ctrl - square

References absi(), globalPixPoint1, globalPixPoint2, and globalPixPointS.

void UResDisp::paintBold ( bool bold )

Try capture an image using openCV highGUI

Parameters

camIdx	is the camera device number to use Set the paint bold flag
bold	true or false

Referenced by UFunctionDisp::handleCommand().

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

protected

Paint cluster covariance ellipse in UV image, if not UV, then cromatisity

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

protected

Paint pixels within 'clust' into image in blue

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

virtual

Print status for this resource

Reimplemented from UResVarPool.

void UResDisp::removeImagePoolImg ( int imgPoolNum )

protected

Remove this image, as it is about to be resized

References UHighGuiWindowHandle::getImageNum(), and UHighGuiWindowHandle::removeImage().

void UResDisp::run ( )

Repaint loop

References globalMouseFlag, globalNavRedisplay, and Wait().

Referenced by startSdlDisp().

void UResDisp::setAutoHereNow ( bool value )

inline

set automatic herenow flag

References UHighGuiWindowHandle::img.

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setCROMASource ( int cromaImg )

inline

Set UV image source

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setIntensMax ( int val )

inline

Set UV/CROMA analysis intensity maximum

References globalThresholdMax.

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setIntensMin ( int val )

inline

Set UV/CROMA analysis intensity minimum

References globalThresholdMin.

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setNewDataNav ( )

inline

Set navigation data flag to update image

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setRangeRingCnt ( int value )

Set number of range rings

Referenced by UFunctionDisp::handleCommand().

bool UResDisp::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

Set ressource as needed (probably not used by this resource)

Reimplemented from UResVarPool.

References UResPoseHist::getMapPoseID(), UResPoseHist::getOdoPoseID(), UImagePool::getResClassID(), UResBase::getResID(), UResPoseHist::getUtmPoseID(), UResBase::isA(), and UResBase::setResource().

void UResDisp::setRobot ( const char * robname )

Set robot type.

Parameters

robname is the type name of the robot - smr, mmr or hako

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setRobotPose ( char * value )

Set position of robot on display - in meters from bottom position

Parameters

value is a string with pose values as a string, p.t. the first cvalue is used only.

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setScale ( double value )

Set scale (height of display in meters

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setUVanalysisPosition	(	int	x,
		int	y
	)

Set analysis pixel for UV/CROMA images

Parameters

X	x-position in source image
Y	y position in source image

References globalPixPoint2.

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setUvRedisplay ( bool value )

set automatic herenow flag

References globalUvRedisplay.

Referenced by UFunctionDisp::handleCommand().

void UResDisp::setUVSource ( int uvImg )

inline

Set UV image source

Referenced by UFunctionDisp::handleCommand().

void UResDisp::showUVImage ( bool asCROMA )

protected

Paint an UV image from the source image in the variable 'imgSourceUV'

Parameters

asCroma if false, then show as UV analysis, if trye, then as cromatisity analysis

References UPixel::asBGR(), UPixel::asYUV(), UImage::clear(), UImage::cvArr(), UImage::getColorType(), UPixel::getGreen(), UImage::getLine(), UImage::getPix(), UImage::getPixRef(), UPixel::getRed(), globalPixPoint2, globalThresholdMax, globalThresholdMin, UImage::height(), UImage::isBGR(), UImage::isBW(), UImage::isRGB(), UImage::isYUV(), ULock::lock(), maxi(), mini(), UImage::name, UPixel::p1, UPixel::p2, UPixel::p3, UImage::paintGridAligned(), PIX_PLANES_BGR, roundi(), UImage::setPix(), UPixel::setRGBto(), UImage::setSize(), UPixel::setYUVto(), UPixel::tone(), UImage::toRGB(), UPixel::u, ULock::unlock(), UImage::updated(), UImage::used, UPixel::v, UImage::width(), and UPixel::y.

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

inlinevirtual

Print status for this resource

bool UResDisp::start ( )

Start repaint loop

References startSdlDisp().

Referenced by UFunctionDisp::createResources().

void UResDisp::stop ( bool andWait )

virtual

Stop repaint loop

Reimplemented from UResBase.

References Wait().

void UResDisp::test4NewImages ( )

See if new images has emerged in image pool that is not on the display list

References UHighGuiWindowHandle::img, and UImage::used.

void UResDisp::UResDispInit ( )

Initialize class

Member Data Documentation

ULock UResDisp::dispSync

protected

Display sync lock

int UResDisp::globalThresholdMax

protected

colour analysis intensity limits

int UResDisp::globalThresholdMin

protected

colour analysis intensity limits

UImage* UResDisp::imgBuf

private

Image buffer if UV or croma image is not in an appropriate format

UImagePool* UResDisp::imgPool

protected

Pointer to image pool resource

int UResDisp::imgSourceCROMA

protected

image reference for CROMATICITY analysis

int UResDisp::imgSourceUV

protected

Image source for UV/CROMA image

UNavPaint UResDisp::navPaint

protected

Painter for navigation image

bool UResDisp::newDataImgPool

protected

New data received to image pool

UTime UResDisp::newDataImgPoolAt

protected

Time of newest data update of image in image pool

bool UResDisp::newDataLaser

protected

New data received - laser data

UTime UResDisp::newDataLaserAt

protected

Time of newest data update of data for laser plane display

bool UResDisp::newDataNav

protected

New data received - navigation data

UTime UResDisp::newDataNavAt

protected

Time of newest data update of data for laser plane display

UResPoseHist* UResDisp::poseHist

protected

Pointer to a pose history module with current robot position

UResPoseHist* UResDisp::poseMap

protected

Pointer to a pose history module with current robot position in map coordinates

UResPoseHist* UResDisp::poseUtm

protected

Pointer to a pose history module with current robot position in GPS (UTM) coordinates

bool UResDisp::stopFlag

private

Stop flag for display thread

pthread_t UResDisp::thDisp

private

Thread handle for main loop.

const int UResDisp::UPD_LIST_MAX_CNT = 100

staticprotected

allowed number of highgui displayed images

UHighGuiWindowHandle UResDisp::updList[UPD_LIST_MAX_CNT]

protected

Array of relations between openCV images and SDL draw surfaces

int UResDisp::updListCnt

protected

Number of used entries in the image update list

UVariable* UResDisp::varAutoHereNow

protected

should coordinate systems be alligned at robot always

UVariable* UResDisp::varBold

protected

paint bold

UVariable* UResDisp::varNavImg

protected

main laser navigation image number in image pool

UVariable* UResDisp::varPos

protected

pos of robot on top view

UVariable* UResDisp::varRangeRings

protected

number of range rings to paint (each 1m)

UResVarPool* UResDisp::varRoot

protected

Pointer to a (root) var-pool with access to all sub-structures

UVariable* UResDisp::varRunning

protected

Index to variable with thread running value

UVariable* UResDisp::varScale

protected

scale

UVariable* UResDisp::varUseHighGUI

protected

should HIGHGUI be used to display images (conflict with gstream)

UVariable* UResDisp::varUVCROMAmaxY

protected

used by the UV image and cromaticity image to limit colour display

UVariable* UResDisp::varUVCROMAminY

protected

used by the UV image and cromaticity image to limit colour display

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation