Inheritance diagram for UFuncBall_improved:

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

	UFuncBall_improved ()

virtual	~UFuncBall_improved ()

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
bool	calculateBallPosition (UCamPush cam, UImage ellImg, double ballDiam)

void	createBaseVar ()

void	filterMask (UImage src, UImage dst)

bool	findBall (UCamPush cam, UImage img, bool debug, bool blue)

bool	findBallCandidates (UImage img, UImage ellImg)

double	getBallSize ()

int	getCnt ()

UPosition	getPos ()

void	maskColors (UImage srcImg, UImage dstImg, bool blue)

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 *	varBallSize
	pointer to known size of ball More...

UVariable *	varBlueCnt
	pointer to number of balls found in image More...

UVariable *	varBlueLim
	pointer to limiting red values uMin, uMax, vMin, vMax More...

UVariable *	varBluePos
	pointer to ball position {x,y,z} More...

UVariable *	varBlueTime
	pointer to time of detection More...

UVariable *	varFac
	Maximum size for an estimated ball. More...

UVariable *	varMajMinRatio
	minimum ratio metween major and minor axis of ellipse More...

UVariable *	varMaxSize
	Maximum size for an estimated ball. More...

UVariable *	varMinSize
	Maximum size for an estimated ball. More...

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

UVariable *	varRedCnt
	pointer to number of balls found in image More...

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

UVariable *	varRedPos
	pointer to ball position {x,y,z} More...

UVariable *	varRedTime
	pointer to time of detection More...

UVariable *	varTopLine
	topmost line in image More...

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

UFuncBall_improved::UFuncBall_improved ( )

inline

Constructor

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

virtual UFuncBall_improved::~UFuncBall_improved ( )

inlinevirtual

Destructor - to delete the resource (etc) when finished

Member Function Documentation

bool UFuncBall_improved::calculateBallPosition	(	UCamPush *	cam,
		UImage *	ellImg,
		double	ballDiam
	)

inlineprotected

Find the best of the estimated ball candidate and calculate the ball position relalive to the robot. Expect estimate ellipses that may be balls in the array 'ell' with ellCnt ellipses found. The result is converted to first camera coordinates using the camera focal length and a known ball size. There is no radial error correction applied, so some error must be expected. The camera coordinates are transformed to robot coordinates using a known camera pose (from the camera structure). The result is saved in the 'ballPos' variable in meters relative to the robot. If the ball is close to the edge of the image and partially out of the image, then one of the flags isOutL or isOutR is set to true.

Parameters

cam	is a pointer to a camera device with camera position and lens parameters
ellImg	optional image for debug paint, emmits also more printout to console
ballDiam	is the known diameter of the ball (in meter)

Returns: true if possible - and if true, then the ballPos, isOutL and isOutR is set.

References ballPos, UImage::cvArr(), ell, ellCnt, UCamRad::getCamPar(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamMounted::getPosRot(), UPosRot::getRtoMMatrix(), UPosition::print(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by findBall().

void UFuncBall_improved::createBaseVar ( )

inlineprotected

Make the variables that will be available to other plugins

References UResVarPool::addVar(), varBallSize, varBlueCnt, varBlueLim, varBluePos, varBlueTime, varFac, varMajMinRatio, varMaxSize, varMinSize, varPoolImg, varRedCnt, varRedLim, varRedPos, varRedTime, and varTopLine.

Referenced by UFuncBall_improved().

void UFuncBall_improved::filterMask	(	UImage *	src,
		UImage *	dst
	)

inlineprotected

filter the image. Source and destination image may be the same.

Parameters

src	is the source image
dst	is the destination image

References UImage::copyMeta(), UImage::cvArr(), UImagePool::getImage(), UVariable::getInt(), UFunctionBase::getStaticResource(), UFunctionImgBase::imgPool, and varPoolImg.

Referenced by findBall().

bool UFuncBall_improved::findBall	(	UCamPush *	cam,
		UImage *	img,
		bool	debug,
		bool	blue
	)

inlineprotected

Find red ball in image, using parameters from global var pool

Parameters

cam	camera from wich the image was taken (has focal length and camera pose)
img	is a pointer to the image to be analized
debug	if true, then more images are producen in the image pool
blue	if true, then the blue color values are used (else the red values)

Returns: true if at least one red ball is found

References ballPos, calculateBallPosition(), UImage::copy(), ellCnt, filterMask(), findBallCandidates(), UTime::getDecSec(), UImagePool::getImage(), UVariable::getInt(), UFunctionBase::getStaticResource(), UVariable::getValued(), UImage::height(), UFunctionImgBase::imgPool, imgSizeH, imgSizeW, UImage::imgTime, maskColors(), UVariable::set3D(), UImage::setName(), UVariable::setValued(), UImage::tone(), UImage::updated(), varBallSize, varBlueCnt, varBluePos, varBlueTime, varPoolImg, varRedCnt, varRedPos, varRedTime, and UImage::width().

Referenced by handleCommand().

bool UFuncBall_improved::findBallCandidates	(	UImage *	img,
		UImage *	ellImg
	)

inlineprotected

Find balls in this image. This function is almost a direct copy of the 'fitellipse.c' example from the opencv package.

Parameters

img	is a pointer to a BW mask image with interesting pixels beeing > 0
ellImg	optional image where found ellipses are drawn (for debug)

Returns: true if at least one ball candidate is found.

References UImage::cvArr(), ell, ellCnt, UVariable::getDouble(), UVariable::getInt(), MAX_ELL_CNT, varMajMinRatio, varMaxSize, and varMinSize.

Referenced by findBall().

double UFuncBall_improved::getBallSize ( )

inlineprotected

Get the ball size - from global variable store

References UVariable::getValued(), and varBallSize.

int UFuncBall_improved::getCnt ( )

inlineprotected

Get number of balls found in image

References ellCnt.

Referenced by handleCommand().

UPosition UFuncBall_improved::getPos ( )

inlineprotected

Get position of this estimated ball position

Returns: the position as a UPosition structure

References ballPos.

Referenced by handleCommand().

virtual bool UFuncBall_improved::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, USmlTag::codePosition(), findBall(), USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), USmlTagIn::getAttValueInt(), UCamPool::getCam(), UFunctionCamBase::getCamAndRawImage(), getCnt(), UImagePool::getImage(), UVariable::getInt(), getPos(), USmlTagIn::getTagName(), img, UFunctionImgBase::imgPool, UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UServerInMsg::tag, and varPoolImg.

void UFuncBall_improved::maskColors	(	UImage *	srcImg,
		UImage *	dstImg,
		bool	blue
	)

inlineprotected

Find balls in this image. Most of the code used is from the original code example.

Parameters

srcImg	is a pointer to the image to be analyzed
dstImg	is where the pixels with the ball color is saved.
debug	if true, then more images are produced in the image pool
blue	are we looking for a blue ball (else a red)

References UImage::copyMeta(), UImage::getHeight(), UVariable::getInt(), UImage::getLine(), UImage::getWidth(), UImage::isRGB(), UPixel::p1, UPixel::p2, UPixel::p3, UImage::setName(), UImage::setSize(), UImage::toRGB(), UImage::updated(), UResBase::var, varBlueLim, varRedLim, and varTopLine.