BallDetectionGenerator Class Reference

Uses segmented color region information to detect round objects. More...

#include <BallDetectionGenerator.h>

Inheritance diagram for BallDetectionGenerator:

[legend]

Detailed Description

Uses segmented color region information to detect round objects.

This expects its events to come from a RegionGenerator (or a compatable subclass)

Sends a VisionObjectEvent only for the largest ball found (if one is found)

You can set the index of the color of the ball to look for in the constructor, so you can have several of these running looking for balls of different colors.

This is one of our oldest code segments, and has been hacked on a lot, so apologies for a bit of a mess...

Definition at line 25 of file BallDetectionGenerator.h.

List of all members.

Classes
struct	VObject
	High level vision ouput structure for detected objects. More...
Public Member Functions
	BallDetectionGenerator (unsigned int mysid, const RegionGenerator *rg, unsigned int colorIdx, unsigned int threshmapChan, unsigned int noiseFiltering, float confidence)
	constructor
virtual void	doEvent ()
	see class notes above for what data this can handle
Static Public Member Functions
static std::string	getClassDescription ()
	Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Protected Types
typedef unsigned char	uchar
	shorthand
Protected Member Functions
void	testSendEvent (const FilterBankEvent &ev, float conf, int regX1, int regX2, int regY1, int regY2, int area)
	decides wether to actually send the event based on confidence threshold.
void	createEvent (EventBase::EventTypeID_t etid, float bbX1, float bbX2, float bbY1, float bbY2, float area, float rx, float ry, unsigned int frame) const
	does the actual event sending
Static Protected Member Functions
static int	calcEdgeMask (int x1, int x2, int y1, int y2, int width, int height)
	returns a bit mask corresponding to edges touched by the coordinates passed
static float	pct_from_mean (float a, float b)
	returns $\left\|\frac{a-b}{a+b}\right\|$
Protected Attributes
unsigned int	clrIdx
	the index of the color of the ball we're looking for
unsigned int	tmIdx
	the index of the theshold map (channel) of the FilterBankEvent
VObject	ball
	information about the best ball found
bool	present
	if true, we think we have a ball in front of us
unsigned int	count
	for each frame where we don't agree with present's value, this is incremented and compared against noiseFilter.
unsigned int	noiseThreshold
	the number of frames to wait to make sure an object has dissappeared/reappeared
float	confidenceThreshold
	how sure we should be it's a ball before declaring it as such.
Static Protected Attributes
static const unsigned int	NUM_CHECK = 10
	the number of regions to check (from largest to smallest)
Edge masks

static const uchar	OFF_EDGE_LEFT = 1<<1
	bitmask for calcEdgeMask results
static const uchar	OFF_EDGE_RIGHT = 1<<2
	bitmask for calcEdgeMask results
static const uchar	OFF_EDGE_TOP = 1<<3
	bitmask for calcEdgeMask results
static const uchar	OFF_EDGE_BOTTOM = 1<<4
	bitmask for calcEdgeMask results
Private Member Functions
	BallDetectionGenerator (const BallDetectionGenerator &fbk)
	don't call
const BallDetectionGenerator &	operator= (const BallDetectionGenerator &fbk)
	don't call

Member Typedef Documentation

typedef unsigned char BallDetectionGenerator::uchar [protected]

shorthand

Definition at line 36 of file BallDetectionGenerator.h.

Constructor & Destructor Documentation

BallDetectionGenerator::BallDetectionGenerator	(	unsigned int	mysid,
		const RegionGenerator *	rg,
		unsigned int	colorIdx,
		unsigned int	threshmapChan,
		unsigned int	noiseFiltering,
		float	confidence
	)

constructor

Definition at line 14 of file BallDetectionGenerator.cc.

BallDetectionGenerator::BallDetectionGenerator ( const BallDetectionGenerator & fbk ) [private]

don't call

Member Function Documentation

int BallDetectionGenerator::calcEdgeMask	(	int	x1,
		int	x2,
		int	y1,
		int	y2,
		int	width,
		int	height
	)			`[static, protected]`

returns a bit mask corresponding to edges touched by the coordinates passed

Definition at line 302 of file BallDetectionGenerator.cc.

Referenced by doEvent().

void BallDetectionGenerator::createEvent	(	EventBase::EventTypeID_t	etid,
		float	bbX1,
		float	bbX2,
		float	bbY1,
		float	bbY2,
		float	area,
		float	rx,
		float	ry,
		unsigned int	frame
	)			const `[protected]`