DualCoding::MapBuilder Class Reference

#include <MapBuilder.h>

Inheritance diagram for DualCoding::MapBuilder:

Detailed Description

Definition at line 33 of file MapBuilder.h.

Public Types
typedef unsigned int	MapBuilderVerbosity_t
Public Member Functions
	MapBuilder ()
	Constructor.
virtual	~MapBuilder ()
	Destructor.
virtual void	preStart ()
	Called by start() before the doStart(), allows superclasses to do some initialization startup preceeding subclass customization.
virtual void	stop ()
	Calling this signals the behavior to stop running. In turn, this calls doStop(), then removes the behavior from the registry and subtracts from the reference counter Ñ thus may delete the object if no other references remain.
virtual std::string	getDescription () const
	Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
void	printShS (ShapeSpace &) const
unsigned int	executeRequest (const MapBuilderRequest &, unsigned int *req_id=NULL)
	Execute a MapBuilder request, and optionally store the request id in a variable; the id will be returned in any case.
void	executeRequest (BehaviorBase *requestingBehavior, const MapBuilderRequest &req)
	Execture a MapBuilder request and store the address of the requesting behavior to use as the source ID in a mapbuilder status event.
MapBuilderRequest *	getCurrentRequest ()
virtual void	doEvent ()
	Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.
void	processImage (const LookoutSketchEvent &)
std::vector< ShapeRoot >	getShapes (const ShapeSpace &ShS, int minConf=2) const
void	importLocalToWorld ()
ShapeRoot	importLocalShapeToWorld (const ShapeRoot &localShape)
ShapeRoot	importWorldToLocal (const ShapeRoot &worldShape)
template<class T >
Shape< T >	importWorldToLocal (const Shape< T > &worldShape)
void	newSiftMatcher (const std::string &siftDatabasePath)
void	saveSiftDatabase (const std::string &siftDatabasePath)
void	trainSiftObject (const std::string &siftDatabasePath, const std::string &objectName, const std::string &modelName="model1")
void	trainSiftObject (const std::string &siftDatabasePath, const Sketch< uchar > &sketch, const std::string &objectName, const std::string &modelName="model1")
void	matchSrcToDst (ShapeSpace &src, ShapeSpace &dst, std::set< color_index > polygonEdgeColors=std::set< color_index >(), bool mergeSrc=true, bool mergeDst=true)
void	setInitialGazePts ()
	set up initial gazePts either virtually or by scan
void	extendLocal (const fmat::Transform &baseToCam)
void	extendWorld (const fmat::Transform &baseToCam)
void	removeNoise (ShapeSpace &, const fmat::Transform &baseToCam)
	decrement confidence of shapes which should have been seen according to the baseToCam matrix
void	removeGazePts (std::vector< GazePoint > &, const fmat::Transform &baseToCam)
	erase gaze points which should have been seen according to the baseToCam matrix
bool	determineNextGazePoint ()
	Returns true if it has set up a valid next gaze point in nextGazePoint.
bool	determineNextGazePoint (const std::vector< ShapeRoot > &)
	Returns true if there is a shape which needs be looked at again and is reachable; sets it up as nextGazePoint.
bool	determineNextGazePoint (std::vector< GazePoint > &gazePts)
	Find the next valid gazepoint in the queue, converting to egocentric if necessary.
void	moveToNextGazePoint (const bool manualOverride=false)
	Starts robot moving to the next gaze point.
void	doNextSearch ()
void	doNextSearch2 ()
bool	isBadGazePoint (const Point &) const
void	projectToGround (const fmat::Transform &camToBase)
ShapeRoot	projectToLocal (ShapeRoot &shape)
void	filterGroundShapes (const fmat::Transform &baseToCam)
void	calculateGroundPlane ()


const Shape< AgentData > &	getAgent () const
	utility functions which may be used by MapBuilderRequest's exit condition and others
void	moveAgent (coordinate_t const local_dx, coordinate_t const local_dy, coordinate_t const local_dz, AngSignPi dtheta)
	updates the agent location and heading after a relative move
Functions to make requests to the Lookout

void	storeImage (bool useNextGazePoint)
void	grabCameraImageAndGo ()
void	scanForGazePts ()
Static Public Member Functions
static void	setRetain (bool r)
	Control whether static structures (mapbuilder, sketchGUI sockets, etc.) are retained.
static bool	isRetained ()
static void	setVerbosity (MapBuilderVerbosity_t v)
static bool	isPointVisible (const Point &pt, const fmat::Transform &baseToCam, float maxDistanceSq)
static bool	isLineVisible (const LineData &ln, const fmat::Transform &baseToCam)
static bool	isShapeVisible (const ShapeRoot &ground_shape, const fmat::Transform &baseToCam, float maxDistanceSq)
Public Attributes
Transformation matrices between local and world frames

fmat::Transform	localToWorldMatrix
fmat::Transform	worldToLocalMatrix
Static Public Attributes
static const MapBuilderVerbosity_t	MBVstart = 1<<0
static const MapBuilderVerbosity_t	MBVevents = 1<<1
static const MapBuilderVerbosity_t	MBVexecute = 1<<2
static const MapBuilderVerbosity_t	MBVcomplete = 1<<3
static const MapBuilderVerbosity_t	MBVdefineGazePoints = 1<<4
static const MapBuilderVerbosity_t	MBVgazePointQueue = 1<<5
static const MapBuilderVerbosity_t	MBVnextGazePoint = 1<<6
static const MapBuilderVerbosity_t	MBVshapeSearch = 1<<7
static const MapBuilderVerbosity_t	MBVshapesFound = 1<<8
static const MapBuilderVerbosity_t	MBVgroundPlane = 1<<9
static const MapBuilderVerbosity_t	MBVprojectionFailed = 1<<10
static const MapBuilderVerbosity_t	MBVimportShapes = 1<<11
static const MapBuilderVerbosity_t	MBVnotAdmissible = 1<<12
static const MapBuilderVerbosity_t	MBVshapeMatch = 1<<13
static const MapBuilderVerbosity_t	MBVshapesMerge = 1<<14
static const MapBuilderVerbosity_t	MBVshouldSee = 1<<15
static const MapBuilderVerbosity_t	MBVdeleteShape = 1<<16
static const MapBuilderVerbosity_t	MBVsetAgent = 1<<17
static const MapBuilderVerbosity_t	MBVbadGazePoint = 1<<18
static const MapBuilderVerbosity_t	MBVskipShape = 1<<19
Protected Member Functions
void	executeRequest ()
	Triggers action to execute the request at the front of the queue.
bool	requestExitTest ()
	calls exitTest of current request if there is one and returns the result
void	requestComplete ()
	posts completion event and deletes current request, executes next request if there is one
void	setAgent (const Point &worldLocation, const AngTwoPi worldHeading, bool quiet=false)
	Sets agent location and heading, and recomputes local-to-world transformation matrices. Called by the Pilot.
Shape extraction functions

void	getCameraShapes (const Sketch< uchar > &camFrame)
std::vector< Shape< LineData > >	getCamLines (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
std::vector< Shape< EllipseData > >	getCamEllipses (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
void	getCamPolygons (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
std::vector< Shape< LineData > >	getCamWalls (const Sketch< uchar > &, unsigned int) const
void	getCamSpheres (const Sketch< uchar > &, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
void	getCamCylinders (const Sketch< uchar > &camFrame, const std::set< color_index > &colors, const std::map< color_index, coordinate_t > &assumedHeights, const std::map< color_index, int > &minCylinderAreas)
void	getCamBlobs (const Sketch< uchar > &camFrame, const std::set< color_index > &colors, const std::map< color_index, int > &minBlobAreas, const std::map< color_index, BlobData::BlobOrientation_t > &blobOrientations, const std::map< color_index, coordinate_t > &assumedBlobHeights)
void	getCamBlobs (const set< color_index > &colors, int defMinBlobArea=0)
void	getCamTargets (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors) const
std::vector< Shape< MarkerData > >	getCamMarkers (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors, const std::set< color_index > &occluderColors, const std::set< MarkerType_t > &markerTypes) const
void	getCamSiftObjects (const Sketch< uchar > &rawY, const std::string &siftDatabasePath, const std::set< std::string > &siftObjectNames)
void	getCamAprilTags (const Sketch< uchar > &rawY)
void	getCamDominoes (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors, const std::set< color_index > &secondColors)
void	getCamNaughts (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors, const fmat::Column< 3 > &dimensions) const
void	getCamCrosses (const Sketch< uchar > &camFrame, const std::set< color_index > &objectColors) const
void	getCamAgents (const Sketch< uchar > &camFrame, const Sketch< yuv > &camFrameYUV, const std::set< color_index > &objectColors) const
Protected Attributes
SketchSpace &	camSkS
ShapeSpace &	camShS
ShapeSpace &	groundShS
SketchSpace &	localSkS
ShapeSpace &	localShS
SketchSpace &	worldSkS
ShapeSpace &	worldShS
const int	xres
const int	yres
	width and height of camera frame
PlaneEquation	ground_plane
	ground plane to which shapes are projected
Shape< AgentData > &	theAgent
std::vector< Point >	badGazePoints
	gaze points for which HeadPointerMC.lookAtPoint() returned false
std::queue< MapBuilderRequest * >	requests
MapBuilderRequest *	curReq
unsigned int	idCounter
float	maxDistSq
	square of current request's max distance parameter
std::map< string, SiftTekkotsu * >	siftMatchers
unsigned int	pointAtID
unsigned int	scanID
	ID's for lookout requests.
Point	nextGazePoint
Static Protected Attributes
static bool	retain = true
	if true, VRmixin::stopCrew will not clear MapBuilder structures
Private Member Functions
	MapBuilder (const MapBuilder &)
	never call this
MapBuilder &	operator= (const MapBuilder &)
	never call this
Static Private Attributes
static MapBuilderVerbosity_t	verbosity
Friends
class	Lookout
class	BiColorMarkerData
class	Pilot
class	LineData
class	EllipseData

Member Typedef Documentation

typedef unsigned int DualCoding::MapBuilder::MapBuilderVerbosity_t

Definition at line 53 of file MapBuilder.h.

Constructor & Destructor Documentation

DualCoding::MapBuilder::MapBuilder ( )

Constructor.

Definition at line 46 of file MapBuilder.cc.

virtual DualCoding::MapBuilder::~MapBuilder ( ) [virtual]

Destructor.

Definition at line 121 of file MapBuilder.h.

DualCoding::MapBuilder::MapBuilder ( const MapBuilder & ) [private]

never call this

Member Function Documentation

void DualCoding::MapBuilder::calculateGroundPlane ( )

Definition at line 682 of file MapBuilder.cc.

Referenced by executeRequest().

bool DualCoding::MapBuilder::determineNextGazePoint ( std::vector< GazePoint > & gazePts )

Find the next valid gazepoint in the queue, converting to egocentric if necessary.

Definition at line 355 of file MapBuilder.cc.

bool DualCoding::MapBuilder::determineNextGazePoint ( const std::vector< ShapeRoot > & shapes )

Returns true if there is a shape which needs be looked at again and is reachable; sets it up as nextGazePoint.

Definition at line 287 of file MapBuilder.cc.

bool DualCoding::MapBuilder::determineNextGazePoint ( )

Returns true if it has set up a valid next gaze point in nextGazePoint.

Definition at line 264 of file MapBuilder.cc.

Referenced by doEvent(), and executeRequest().

void DualCoding::MapBuilder::doEvent ( ) [virtual]

Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.

Default implementation watches for 'private' text message events (those forwarded by a BehaviorSwitchControl from ControllerGUI input) and will publically rebroadcast them. The idea is that your own processEvent gets first dibs, but if the behavior doesn't handle the text message, it will be handed off for others.

Reimplemented from BehaviorBase.

Definition at line 184 of file MapBuilder.cc.

void DualCoding::MapBuilder::doNextSearch ( )

Definition at line 390 of file MapBuilder.cc.

Referenced by doEvent(), and executeRequest().

void DualCoding::MapBuilder::doNextSearch2 ( )

void DualCoding::MapBuilder::executeRequest	(	BehaviorBase *	requestingBehavior,
		const MapBuilderRequest &	req
	)

Execture a MapBuilder request and store the address of the requesting behavior to use as the source ID in a mapbuilder status event.

Definition at line 103 of file MapBuilder.cc.

unsigned int DualCoding::MapBuilder::executeRequest	(	const MapBuilderRequest &	req,
		unsigned int *	req_id = `NULL`
	)

Execute a MapBuilder request, and optionally store the request id in a variable; the id will be returned in any case.

Definition at line 109 of file MapBuilder.cc.

void DualCoding::MapBuilder::executeRequest ( ) [protected]

Triggers action to execute the request at the front of the queue.

Definition at line 124 of file MapBuilder.cc.

Referenced by executeRequest(), and requestComplete().

void DualCoding::MapBuilder::extendLocal ( const fmat::Transform & baseToCam )

Definition at line 453 of file MapBuilder.cc.

Referenced by processImage().

void DualCoding::MapBuilder::extendWorld ( const fmat::Transform & baseToCam )

Definition at line 464 of file MapBuilder.cc.

Referenced by processImage().

void DualCoding::MapBuilder::filterGroundShapes ( const fmat::Transform & baseToCam )

Definition at line 613 of file MapBuilder.cc.

Referenced by processImage().

const Shape<AgentData>& DualCoding::MapBuilder::getAgent ( ) const

utility functions which may be used by MapBuilderRequest's exit condition and others

Definition at line 142 of file MapBuilder.h.

void DualCoding::MapBuilder::getCamAgents	(	const Sketch< uchar > &	camFrame,
		const Sketch< yuv > &	camFrameYUV,
		const std::set< color_index > &	objectColors
	)			const `[protected]`

Definition at line 1631 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamAprilTags ( const Sketch< uchar > & rawY ) [protected]

Definition at line 1383 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamBlobs	(	const set< color_index > &	colors,
		int	defMinBlobArea = `0`
	)			`[protected]`

Definition at line 1257 of file MapBuilder.cc.

void DualCoding::MapBuilder::getCamBlobs	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	colors,
		const std::map< color_index, int > &	minBlobAreas,
		const std::map< color_index, BlobData::BlobOrientation_t > &	blobOrientations,
		const std::map< color_index, coordinate_t > &	assumedBlobHeights
	)			`[protected]`

Definition at line 1241 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamCrosses	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors
	)			const `[protected]`

Definition at line 1554 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamCylinders	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	colors,
		const std::map< color_index, coordinate_t > &	assumedHeights,
		const std::map< color_index, int > &	minCylinderAreas
	)			`[protected]`

Definition at line 1170 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamDominoes	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	secondColors
	)			`[protected]`

Definition at line 1400 of file MapBuilder.cc.

Referenced by getCameraShapes().

vector< Shape< EllipseData > > DualCoding::MapBuilder::getCamEllipses	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1101 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCameraShapes ( const Sketch< uchar > & camFrame ) [protected]

Definition at line 1041 of file MapBuilder.cc.

Referenced by processImage().

vector< Shape< LineData > > DualCoding::MapBuilder::getCamLines	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1073 of file MapBuilder.cc.

Referenced by getCameraShapes().

vector< Shape< MarkerData > > DualCoding::MapBuilder::getCamMarkers	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors,
		const std::set< MarkerType_t > &	markerTypes
	)			const `[protected]`

Definition at line 1313 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamNaughts	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const fmat::Column< 3 > &	dimensions
	)			const `[protected]`

Definition at line 1534 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamPolygons	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1120 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamSiftObjects	(	const Sketch< uchar > &	rawY,
		const std::string &	siftDatabasePath,
		const std::set< std::string > &	siftObjectNames
	)			`[protected]`

Definition at line 1344 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamSpheres	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1153 of file MapBuilder.cc.

Referenced by getCameraShapes().

void DualCoding::MapBuilder::getCamTargets	(	const Sketch< uchar > &	camFrame,
		const std::set< color_index > &	objectColors,
		const std::set< color_index > &	occluderColors
	)			const `[protected]`

Definition at line 1277 of file MapBuilder.cc.

Referenced by getCameraShapes().

vector< Shape< LineData > > DualCoding::MapBuilder::getCamWalls	(	const Sketch< uchar > &	camFrame,
		unsigned int	floorColor
	)			const `[protected]`

Definition at line 1197 of file MapBuilder.cc.

Referenced by getCameraShapes().

MapBuilderRequest* DualCoding::MapBuilder::getCurrentRequest ( )

Definition at line 129 of file MapBuilder.h.

virtual std::string DualCoding::MapBuilder::getDescription ( ) const [virtual]

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 124 of file MapBuilder.h.

std::vector<ShapeRoot> DualCoding::MapBuilder::getShapes	(	const ShapeSpace &	ShS,
		int	minConf = `2`
	)			const

Definition at line 148 of file MapBuilder.h.

void DualCoding::MapBuilder::grabCameraImageAndGo ( )

Definition at line 421 of file MapBuilder.cc.

Referenced by executeRequest().

ShapeRoot DualCoding::MapBuilder::importLocalShapeToWorld ( const ShapeRoot & localShape )

Definition at line 535 of file MapBuilder.cc.

void DualCoding::MapBuilder::importLocalToWorld ( )

Definition at line 529 of file MapBuilder.cc.

template<class T >

Shape< T > DualCoding::MapBuilder::importWorldToLocal ( const Shape< T > & worldShape )

Definition at line 283 of file MapBuilder.h.

ShapeRoot DualCoding::MapBuilder::importWorldToLocal ( const ShapeRoot & worldShape )

Definition at line 541 of file MapBuilder.cc.

bool DualCoding::MapBuilder::isBadGazePoint ( const Point & pt ) const

Definition at line 396 of file MapBuilder.cc.

Referenced by determineNextGazePoint().

bool DualCoding::MapBuilder::isLineVisible	(	const LineData &	ln,
		const fmat::Transform &	baseToCam
	)			`[static]`

Definition at line 557 of file MapBuilder.cc.

Referenced by isShapeVisible(), and removeNoise().

bool DualCoding::MapBuilder::isPointVisible	(	const Point &	pt,
		const fmat::Transform &	baseToCam,
		float	maxDistanceSq
	)			`[static]`

Definition at line 547 of file MapBuilder.cc.

Referenced by isShapeVisible(), and removeGazePts().

static bool DualCoding::MapBuilder::isRetained ( ) [static]

Definition at line 51 of file MapBuilder.h.

bool DualCoding::MapBuilder::isShapeVisible	(	const ShapeRoot &	ground_shape,
		const fmat::Transform &	baseToCam,
		float	maxDistanceSq
	)			`[static]`

Definition at line 593 of file MapBuilder.cc.

Referenced by removeNoise().

void DualCoding::MapBuilder::matchSrcToDst	(	ShapeSpace &	src,
		ShapeSpace &	dst,
		std::set< color_index >	polygonEdgeColors = `std::set<color_index>()`,
		bool	mergeSrc = `true`,
		bool	mergeDst = `true`
	)

Definition at line 727 of file MapBuilder.cc.

Referenced by extendLocal(), extendWorld(), and importLocalToWorld().

void DualCoding::MapBuilder::moveAgent	(	coordinate_t const	local_dx,
		coordinate_t const	local_dy,
		coordinate_t const	local_dz,
		AngSignPi	dtheta
	)

updates the agent location and heading after a relative move

Definition at line 519 of file MapBuilder.cc.

void DualCoding::MapBuilder::moveToNextGazePoint ( const bool manualOverride = false )

Starts robot moving to the next gaze point.

Definition at line 374 of file MapBuilder.cc.

Referenced by doEvent(), and executeRequest().

void DualCoding::MapBuilder::newSiftMatcher ( const std::string & siftDatabasePath )

Definition at line 1372 of file MapBuilder.cc.

MapBuilder& DualCoding::MapBuilder::operator= ( const MapBuilder & ) [private]

never call this

void DualCoding::MapBuilder::preStart ( ) [virtual]

Called by start() before the doStart(), allows superclasses to do some initialization startup preceeding subclass customization.

For robustness to future change, subclasses should be sure to call the superclass implementation.

Reimplemented from BehaviorBase.

Definition at line 62 of file MapBuilder.cc.

void DualCoding::MapBuilder::printShS ( ShapeSpace & ShS ) const

Definition at line 1013 of file MapBuilder.cc.

void DualCoding::MapBuilder::processImage ( const LookoutSketchEvent & e )

Definition at line 225 of file MapBuilder.cc.

Referenced by doEvent(), and grabCameraImageAndGo().

void DualCoding::MapBuilder::projectToGround ( const fmat::Transform & camToBase )

Definition at line 708 of file MapBuilder.cc.

Referenced by processImage().

ShapeRoot DualCoding::MapBuilder::projectToLocal ( ShapeRoot & shape )

Definition at line 712 of file MapBuilder.cc.

void DualCoding::MapBuilder::removeGazePts	(	std::vector< GazePoint > &	gazePts,
		const fmat::Transform &	baseToCam
	)

erase gaze points which should have been seen according to the baseToCam matrix

Definition at line 991 of file MapBuilder.cc.

Referenced by extendWorld().

void DualCoding::MapBuilder::removeNoise	(	ShapeSpace &	ShS,
		const fmat::Transform &	baseToCam
	)

decrement confidence of shapes which should have been seen according to the baseToCam matrix

Definition at line 895 of file MapBuilder.cc.

Referenced by extendLocal(), and extendWorld().

void DualCoding::MapBuilder::requestComplete ( ) [protected]

posts completion event and deletes current request, executes next request if there is one

Definition at line 480 of file MapBuilder.cc.

Referenced by doEvent(), executeRequest(), grabCameraImageAndGo(), and setInitialGazePts().

bool DualCoding::MapBuilder::requestExitTest ( ) [protected]

calls exitTest of current request if there is one and returns the result

Definition at line 473 of file MapBuilder.cc.

Referenced by doEvent().

void DualCoding::MapBuilder::saveSiftDatabase ( const std::string & siftDatabasePath )

Definition at line 1639 of file MapBuilder.cc.

void DualCoding::MapBuilder::scanForGazePts ( )

Definition at line 439 of file MapBuilder.cc.

Referenced by setInitialGazePts().

void DualCoding::MapBuilder::setAgent	(	const Point &	worldLocation,
		const AngTwoPi	worldHeading,
		bool	quiet = `false`
	)			`[protected]`

Sets agent location and heading, and recomputes local-to-world transformation matrices. Called by the Pilot.

Definition at line 500 of file MapBuilder.cc.

Referenced by moveAgent().

void DualCoding::MapBuilder::setInitialGazePts ( )

set up initial gazePts either virtually or by scan

Definition at line 943 of file MapBuilder.cc.

Referenced by executeRequest().

static void DualCoding::MapBuilder::setRetain ( bool r ) [static]

Control whether static structures (mapbuilder, sketchGUI sockets, etc.) are retained.

Definition at line 50 of file MapBuilder.h.

static void DualCoding::MapBuilder::setVerbosity ( MapBuilderVerbosity_t v ) [static]

Definition at line 78 of file MapBuilder.h.

void DualCoding::MapBuilder::stop ( ) [virtual]

Calling this signals the behavior to stop running. In turn, this calls doStop(), then removes the behavior from the registry and subtracts from the reference counter Ñ thus may delete the object if no other references remain.

You shouldn't override this — override doStop instead.
Warning: if you do override, call this at the end of your stop(), not beginning (as it might delete this !)

Reimplemented from BehaviorBase.

Definition at line 93 of file MapBuilder.cc.

void DualCoding::MapBuilder::storeImage ( bool useNextGazePoint )

Definition at line 409 of file MapBuilder.cc.

Referenced by executeRequest(), and moveToNextGazePoint().

void DualCoding::MapBuilder::trainSiftObject	(	const std::string &	siftDatabasePath,
		const Sketch< uchar > &	sketch,
		const std::string &	objectName,
		const std::string &	modelName = `"model1"`
	)

Definition at line 1656 of file MapBuilder.cc.

void DualCoding::MapBuilder::trainSiftObject	(	const std::string &	siftDatabasePath,
		const std::string &	objectName,
		const std::string &	modelName = `"model1"`
	)

Definition at line 1650 of file MapBuilder.cc.

Friends And Related Function Documentation

friend class BiColorMarkerData [friend]

Definition at line 82 of file MapBuilder.h.

friend class EllipseData [friend]

Definition at line 85 of file MapBuilder.h.

Referenced by getCamDominoes().

friend class LineData [friend]

Definition at line 84 of file MapBuilder.h.

Referenced by determineNextGazePoint(), filterGroundShapes(), getCamCrosses(), getCamDominoes(), isLineVisible(), isShapeVisible(), matchSrcToDst(), printShS(), and setInitialGazePts().

friend class Lookout [friend]

Definition at line 81 of file MapBuilder.h.

friend class Pilot [friend]

Definition at line 83 of file MapBuilder.h.

Member Data Documentation

std::vector<Point> DualCoding::MapBuilder::badGazePoints [protected]

gaze points for which HeadPointerMC.lookAtPoint() returned false

Definition at line 95 of file MapBuilder.h.

Referenced by determineNextGazePoint(), executeRequest(), filterGroundShapes(), isBadGazePoint(), and preStart().

ShapeSpace& DualCoding::MapBuilder::camShS [protected]

Definition at line 36 of file MapBuilder.h.

Referenced by executeRequest(), getShapes(), preStart(), and processImage().

SketchSpace& DualCoding::MapBuilder::camSkS [protected]

Definition at line 35 of file MapBuilder.h.

Referenced by executeRequest(), preStart(), and processImage().

PlaneEquation DualCoding::MapBuilder::ground_plane [protected]

ground plane to which shapes are projected

Definition at line 44 of file MapBuilder.h.

Referenced by calculateGroundPlane(), getCamCylinders(), projectToGround(), and projectToLocal().

ShapeSpace & DualCoding::MapBuilder::groundShS [protected]

Definition at line 36 of file MapBuilder.h.

Referenced by extendLocal(), filterGroundShapes(), getShapes(), preStart(), and projectToLocal().

unsigned int DualCoding::MapBuilder::idCounter [protected]

Definition at line 99 of file MapBuilder.h.

Referenced by executeRequest().

ShapeSpace& DualCoding::MapBuilder::localShS [protected]

Definition at line 38 of file MapBuilder.h.

Referenced by determineNextGazePoint(), executeRequest(), extendLocal(), extendWorld(), getCamCrosses(), getCamDominoes(), importLocalToWorld(), importWorldToLocal(), preStart(), and projectToLocal().

SketchSpace& DualCoding::MapBuilder::localSkS [protected]

Definition at line 37 of file MapBuilder.h.

Referenced by executeRequest(), and preStart().

fmat::Transform DualCoding::MapBuilder::localToWorldMatrix

Definition at line 91 of file MapBuilder.h.

Referenced by determineNextGazePoint(), extendWorld(), importLocalShapeToWorld(), importLocalToWorld(), and setAgent().

float DualCoding::MapBuilder::maxDistSq [protected]

square of current request's max distance parameter

Definition at line 100 of file MapBuilder.h.

Referenced by executeRequest(), filterGroundShapes(), isBadGazePoint(), removeGazePts(), and removeNoise().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVbadGazePoint = 1<<18 [static]

Definition at line 72 of file MapBuilder.h.

Referenced by determineNextGazePoint().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVcomplete = 1<<3 [static]

Definition at line 57 of file MapBuilder.h.

Referenced by requestComplete().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVdefineGazePoints = 1<<4 [static]

Definition at line 58 of file MapBuilder.h.

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVdeleteShape = 1<<16 [static]

Definition at line 70 of file MapBuilder.h.

Referenced by removeNoise().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVevents = 1<<1 [static]

Definition at line 55 of file MapBuilder.h.

Referenced by doEvent().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVexecute = 1<<2 [static]

Definition at line 56 of file MapBuilder.h.

Referenced by executeRequest().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVgazePointQueue = 1<<5 [static]

Definition at line 59 of file MapBuilder.h.

Referenced by determineNextGazePoint().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVgroundPlane = 1<<9 [static]

Definition at line 63 of file MapBuilder.h.

Referenced by calculateGroundPlane().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVimportShapes = 1<<11 [static]

Definition at line 65 of file MapBuilder.h.

Referenced by matchSrcToDst().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVnextGazePoint = 1<<6 [static]

Definition at line 60 of file MapBuilder.h.

Referenced by moveToNextGazePoint().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVnotAdmissible = 1<<12 [static]

Definition at line 66 of file MapBuilder.h.

Referenced by filterGroundShapes(), and matchSrcToDst().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVprojectionFailed = 1<<10 [static]

Definition at line 64 of file MapBuilder.h.

Referenced by filterGroundShapes().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVsetAgent = 1<<17 [static]

Definition at line 71 of file MapBuilder.h.

Referenced by setAgent().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVshapeMatch = 1<<13 [static]

Definition at line 67 of file MapBuilder.h.

Referenced by matchSrcToDst().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVshapeSearch = 1<<7 [static]

Definition at line 61 of file MapBuilder.h.

Referenced by getCamAgents(), getCamBlobs(), getCamCrosses(), getCamCylinders(), getCamDominoes(), getCamEllipses(), getCamLines(), getCamMarkers(), getCamNaughts(), getCamPolygons(), getCamSpheres(), getCamTargets(), and getCamWalls().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVshapesFound = 1<<8 [static]

Definition at line 62 of file MapBuilder.h.

Referenced by getCamBlobs(), getCamCylinders(), getCamDominoes(), getCamEllipses(), getCamLines(), getCamMarkers(), getCamNaughts(), getCamPolygons(), getCamSiftObjects(), getCamSpheres(), getCamTargets(), and getCamWalls().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVshapesMerge = 1<<14 [static]

Definition at line 68 of file MapBuilder.h.

Referenced by matchSrcToDst().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVshouldSee = 1<<15 [static]

Definition at line 69 of file MapBuilder.h.

Referenced by removeNoise().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVskipShape = 1<<19 [static]

Definition at line 73 of file MapBuilder.h.

Referenced by determineNextGazePoint().

const MapBuilderVerbosity_t DualCoding::MapBuilder::MBVstart = 1<<0 [static]

Definition at line 54 of file MapBuilder.h.

Referenced by preStart().

Point DualCoding::MapBuilder::nextGazePoint [protected]

Definition at line 104 of file MapBuilder.h.

Referenced by determineNextGazePoint(), moveToNextGazePoint(), removeGazePts(), and storeImage().

unsigned int DualCoding::MapBuilder::pointAtID [protected]

Definition at line 103 of file MapBuilder.h.

Referenced by doEvent(), doNextSearch(), grabCameraImageAndGo(), and storeImage().

std::queue<MapBuilderRequest*> DualCoding::MapBuilder::requests [protected]

Definition at line 97 of file MapBuilder.h.

Referenced by executeRequest(), requestComplete(), and stop().

bool DualCoding::MapBuilder::retain = true [static, protected]

if true, VRmixin::stopCrew will not clear MapBuilder structures

Definition at line 46 of file MapBuilder.h.

Referenced by isRetained(), and setRetain().

unsigned int DualCoding::MapBuilder::scanID [protected]

ID's for lookout requests.

Definition at line 103 of file MapBuilder.h.

Referenced by doEvent(), and scanForGazePts().

std::map<string,SiftTekkotsu*> DualCoding::MapBuilder::siftMatchers [protected]

Definition at line 101 of file MapBuilder.h.

Referenced by getCamSiftObjects(), newSiftMatcher(), saveSiftDatabase(), and trainSiftObject().

Shape<AgentData>& DualCoding::MapBuilder::theAgent [protected]

Agent in the world frame

Definition at line 87 of file MapBuilder.h.

Referenced by getAgent(), moveAgent(), and setAgent().

MapBuilder::MapBuilderVerbosity_t DualCoding::MapBuilder::verbosity [static, private]

Initial value:

  (-1U & ~(MBVevents | MBVcomplete



           | MBVgazePointQueue | MBVskipShape))

Definition at line 76 of file MapBuilder.h.

Referenced by executeRequest(), preStart(), setAgent(), and setVerbosity().

ShapeSpace& DualCoding::MapBuilder::worldShS [protected]

Definition at line 40 of file MapBuilder.h.

Referenced by determineNextGazePoint(), executeRequest(), extendWorld(), importLocalShapeToWorld(), importLocalToWorld(), and preStart().

SketchSpace& DualCoding::MapBuilder::worldSkS [protected]

Definition at line 39 of file MapBuilder.h.

Referenced by executeRequest(), and preStart().

fmat::Transform DualCoding::MapBuilder::worldToLocalMatrix

Definition at line 91 of file MapBuilder.h.

Referenced by determineNextGazePoint(), extendWorld(), importLocalToWorld(), importWorldToLocal(), and setAgent().

const int DualCoding::MapBuilder::xres [protected]

Definition at line 42 of file MapBuilder.h.

Referenced by getCamWalls().

const int DualCoding::MapBuilder::yres [protected]

width and height of camera frame

Definition at line 42 of file MapBuilder.h.

Referenced by getCamWalls().

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

DualCoding::MapBuilder Class Reference

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Static Private Attributes

Friends

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation