UFuncCropRow Class Reference

Inheritance diagram for UFuncCropRow:

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

Public Attributes
FILE *	linelog
FILE *	plantlog
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

Protected Member Functions
void	CannyEdge (UImage *src, UImage *dst)
void	createBaseVar ()
void	filterMask (UImage *src, UImage *dst)
void	findPlants (UCamPush *cam, UImage *img, UImage *ellImg)
int	getCnt ()
void	maskColors (UImage *srcImg, UImage *dstImg)
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
CvBox2D32f	ell [MAX_ELL_CNT]
	resulting ellipses found in image More...
int	ellCnt
	number of ellipses found More...
UVariable *	varlinepos
	most likely line position in robot coordinates More...
UVariable *	varmaxlines
	Max number of lines to be detected. More...
UVariable *	varMaxSize
	Maximum size for an estimated plant. More...
UVariable *	varMinclosedist
	size of source image in pixels More...
UVariable *	varMinSize
	Maximum size for an estimated plant. More...
UVariable *	varPoolImg
	pointer Imgpool More...
UVariable *	varsquareSE
	Structuring element itterations 3x3 for 1. More...
UVariable *	varthetaoff
	size of source image in pixels 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 ()
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

Kinect-Based crop row navigation system

Author

Radhwan Amir

Constructor & Destructor Documentation

UFuncCropRow::UFuncCropRow ( )

inline

Constructor

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

virtual UFuncCropRow::~UFuncCropRow ( )

inlinevirtual

Destructor - to delete the resource (etc) when finished

Member Function Documentation

void UFuncCropRow::CannyEdge ( UImage *  src, UImage *  dst  )

inlineprotected

Cannny edge detection

Parameters

src	is the source image
dst	is the destination image

—evt juster threshold

References UImage::copyMeta(), UImage::cvArr(), UImage::setName(), and UImage::updated().

void UFuncCropRow::createBaseVar ( )

inlineprotected

Make the variables that will be available to other plugins

References UResVarPool::addVar(), varlinepos, varmaxlines, varMaxSize, varMinclosedist, varMinSize, varPoolImg, varsquareSE, and varthetaoff.

Referenced by UFuncCropRow().

void UFuncCropRow::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, UImage::setName(), varPoolImg, and varsquareSE.

Referenced by handleCommand().

void UFuncCropRow::findPlants ( UCamPush *  cam, UImage *  img, UImage *  ellImg  )

inlineprotected

Find plants in image.

Parameters

cam	camera from wich the image was taken (has focal length and camera pose)
img	is a pointer to a BW mask image with interesting pixels beeing > 0
ellImg	optional image where found plants are drawn (for debug)

Returns

Number of plants found

References UImage::cvArr(), ell, ellCnt, UCamRad::getCamPar(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UVariable::getInt(), UTime::GetMicrosec(), UResPoseHist::getPoseAtTime(), UPose::getPoseToMap(), UPose::getPoseToMapPose(), UCamMounted::getPosRot(), UTime::GetSec(), UFunctionBase::getStaticResource(), UImage::imgTime, varMaxSize, varMinSize, UFunctionBase::verboseMessages, UPose::x, UPose::y, and UPosition::z.

Referenced by handleCommand().

int UFuncCropRow::getCnt ( )

inlineprotected

Get number of plants found in image

References ellCnt.

virtual bool UFuncCropRow::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

debug images

hough transform

sorting lines

Robot coordinates

Reimplemented from UFunctionBase.

References a, bool2str(), UImage::camDevice, UFunctionCamBase::camPool, UImage::copyMeta(), UImage::cvArr(), filterMask(), findPlants(), USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), USmlTagIn::getAttValueInt(), UCamPool::getCam(), UFunctionCamBase::getCamAndRawImage(), UCamRad::getCamPar(), UVariable::getDouble(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UImagePool::getImage(), UVariable::getInt(), UTime::GetMicrosec(), UResPoseHist::getPoseAtTime(), UPose::getPoseToMap(), UPose::getPoseToMapPose(), UCamMounted::getPosRot(), UTime::GetSec(), UFunctionBase::getStaticResource(), UPose::h, UImage::height(), img, UFunctionImgBase::imgPool, UImage::imgTime, UResBase::line, maskColors(), UPose::print(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), U2Dlined::set2P(), UVariable::setPose(), UImage::setSize(), UServerInMsg::tag, UImage::toBW(), UImage::toRGB(), UImage::updated(), varlinepos, varmaxlines, varMinclosedist, varPoolImg, varthetaoff, UImage::width(), X, UPose::x, UPose::y, and UPosition::z.

void UFuncCropRow::maskColors ( UImage *  srcImg, UImage *  dstImg  )

inlineprotected

RGB to Excess-Green image

Parameters

srcImg	is a pointer to the image to be analized
dstImg	is where the pixels with the ball color is saved.

References UImage::copyMeta(), UImage::getHeight(), UImage::getLine(), UImage::getUCharRef(), UImage::getWidth(), UImage::isRGB(), UPixel::p1, UPixel::p2, UPixel::p3, UImage::setName(), UImage::setSize(), UImage::toRGB(), and UImage::updated().

Referenced by handleCommand().

Member Data Documentation

CvBox2D32f UFuncCropRow::ell[MAX_ELL_CNT]

private

resulting ellipses found in image

Referenced by findPlants().

int UFuncCropRow::ellCnt

private

number of ellipses found

Referenced by findPlants(), getCnt(), and UFuncCropRow().

FILE* UFuncCropRow::linelog

const int UFuncCropRow::MAX_ELL_CNT = 100

staticprivate

FILE* UFuncCropRow::plantlog

UVariable* UFuncCropRow::varlinepos

private

most likely line position in robot coordinates

Referenced by createBaseVar(), and handleCommand().

UVariable* UFuncCropRow::varmaxlines

private

Max number of lines to be detected.

Referenced by createBaseVar(), and handleCommand().

UVariable* UFuncCropRow::varMaxSize

private

Maximum size for an estimated plant.

Referenced by createBaseVar(), and findPlants().

UVariable* UFuncCropRow::varMinclosedist

private

size of source image in pixels

Referenced by createBaseVar(), and handleCommand().

UVariable* UFuncCropRow::varMinSize

private

Maximum size for an estimated plant.

Referenced by createBaseVar(), and findPlants().

UVariable* UFuncCropRow::varPoolImg

private

pointer Imgpool

Referenced by createBaseVar(), filterMask(), and handleCommand().

UVariable* UFuncCropRow::varsquareSE

private

Structuring element itterations 3x3 for 1.

Referenced by createBaseVar(), and filterMask().

UVariable* UFuncCropRow::varthetaoff

private

size of source image in pixels

Referenced by createBaseVar(), and handleCommand().

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

• ufunccroprow.cpp