SegmentedColorGenerator Class Reference
Generates FilterBankEvents indexed color images based on a color threshold file. More...
#include <SegmentedColorGenerator.h>
Detailed Description
Generates FilterBankEvents indexed color images based on a color threshold file.
Pretty simple idea - use a big mapping of YUV values to lookup index values.
Threshold files are 16x64x64 = 64KB. So each Y component is discretized into 16 levels, U and V into 64 each. Then the appropriate element of the 3D matrix is looked up, which holds the desired index for that color. The threshold files are generated offline. See http://www.tekkotsu.org/CameraSetup.html
The color information is shared for all threshold files in this object.
The row skip is always 0, and the row stride is always width. But it would be better to use the proper accessor functions to be more general.
Should receive FilterBankEvents from any standard format FilterBankGenerator (like RawCameraGenerator) However, images that use an increment!=1 will break.
The events which are produced are SegmentedColorFilterBankEvents, which will allow you to reference the color information later on. Keep in mind that the region and area statistic fields are not filled out at this stage... the RegionGenerator will complete the processing if you want that info as well.
Uses the CMVision library for main processing
The format used for serialization is: (code is in saveBuffer())
- <
FilterBankGenerator:superclass header> (First saves the superclass's info) - <
string:"SegColorImage"> (remember a 'string' is len+str+0; so this is the literal "\015\0\0\0SegColorImage\0"; also remember "\015" is octal for 13) - <
char[width*height]: image data> (one byte per sample) - <
unsignedint:num_cols> (number of different colors available) - for each of num_col:
- <
char:red> red color to use for display of this index - <
char:green> green color to use for display of this index - <
char:blue> blue color to use for display of this index
- <
For more information on serialization, see FilterBankGenerator
Definition at line 52 of file SegmentedColorGenerator.h.
Classes | |
| class | NoThresholdException |
| thrown if no threshold maps are available More... | |
Public Types | |
| typedef CMVision::uchar | cmap_t |
| type to use for color indexes | |
| typedef CMVision::color_class_state | color_class_state |
| use CMVision's color structure | |
| typedef CMVision::color_name_map | color_name_map |
| shorthand for CMVision's color name lookup data structure | |
Public Member Functions | |
| SegmentedColorGenerator (unsigned int mysid, FilterBankGenerator *fbg, EventBase::EventTypeID_t tid) | |
| constructor | |
| SegmentedColorGenerator (unsigned int mysid, FilterBankGenerator *fbg, EventBase::EventTypeID_t tid, unsigned int syc, unsigned int suc, unsigned int svc) | |
| constructor, you can pass which channels to use as Y, U, & V channels | |
| virtual | ~SegmentedColorGenerator () |
| destructor | |
| virtual void | doEvent () |
| should receive FilterBankEvents from any standard format FilterBankGenerator (like RawCameraGenerator) | |
| virtual unsigned int | loadThresholdMap (const std::string &tm_file) |
| loads a threshold map into memory from a file, returns -1U if failed, otherwise returns corresponding channel | |
| virtual bool | loadColorInfo (const std::string &col_file) |
| loads color information from a file, returns false if failed, true otherwise | |
| virtual unsigned int | getNumColors () const |
| returns the number of different colors available | |
| virtual const color_class_state * | getColors () const |
| gives direct access to the color information | |
| virtual color_class_state * | getColors () |
| gives direct access to the color information | |
| unsigned int | getColorIndex (const char *name) const |
| returns index of color corresponding to a string (uses a fast hash lookup), or -1U if not found | |
| unsigned int | getColorIndex (const std::string &name) const |
| returns index of color corresponding to a string (uses a fast hash lookup), or -1U if not found | |
| unsigned int | getColorIndex (const rgb color) const |
| returns index of color corresponding to a specific rgb color, or -1U if not found | |
| rgb | getColorRGB (const unsigned int index) const |
| returns rgb struct (from colors.h) corresponding to an int index. Returns black if index is invalid. | |
| rgb | getColorRGB (const char *name) const |
| returns rgb struct (from colors.h) corresponding to a string. Returns black if index is invalid. | |
| rgb | getColorRGB (const std::string &name) const |
| returns rgb struct (from colors.h) corresponding to a string. Returns black if index is invalid. | |
| const char * | getColorName (const unsigned int index) const |
| returns the name of a color given its index | |
| virtual unsigned int | getBinSize () const |
| virtual unsigned int | loadBuffer (const char buf[], unsigned int len, const char *filename=NULL) |
| virtual unsigned int | saveBuffer (char buf[], unsigned int len) const |
| virtual bool | encodeColorsInc (char *&buf, unsigned int &len) const |
| in case you want to only save the color info but not the image (this is binary - *not* the same format as what's read in loadColorInfo) | |
| virtual bool | decodeColorsInc (const char *&buf, unsigned int &len) |
| in case you want to only load the color info but not the image (this is binary - *not* the same format as what's read in loadColorInfo) | |
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 Member Functions | |
| virtual void | setNumImages (unsigned int nLayers, unsigned int nChannels) |
| ignores nChannels - the number of channels is always the number of loaded threshold maps | |
| virtual void | setDimensions () |
| virtual unsigned char * | createImageCache (unsigned int layer, unsigned int chan) const |
| creates the image cache width[layer]*height[layer] + 1 -- why plus one? Because CMVision temporarily scribbles one-past end of each row | |
| virtual void | calcImage (unsigned int layer, unsigned int chan) |
| should calculate new image data, called by getImage() only when imageValids indicates the image being requested is dirty (and only after getImage() has already called createImageCache()) | |
Protected Attributes | |
| unsigned int | srcYChan |
| the channel of the source's Y channel | |
| unsigned int | srcUChan |
| the channel of the source's U channel | |
| unsigned int | srcVChan |
| the channel of the source's V channel | |
| std::vector< cmap_t * > | tmaps |
| list of threshold maps so you can segment the same source different ways | |
| std::vector< std::string > | tmapNames |
| filename of each tmap; | |
| unsigned int | numColors |
| number of available colors | |
| color_class_state | colors [MAX_COLORS] |
| array of available colors | |
| color_name_map | colorNames |
| look up color indexes corresponding to names | |
Static Protected Attributes | |
| static const unsigned int | BITS_Y = 4 |
| bits of discretization for Y channel in the threshold map | |
| static const unsigned int | BITS_U = 6 |
| bits of discretization for U channel in the threshold map | |
| static const unsigned int | BITS_V = 6 |
| bits of discretization for V channel in the threshold map | |
| static const unsigned int | NUM_Y = 1 << BITS_Y |
| levels of discretization for Y channel in the threshold map | |
| static const unsigned int | NUM_U = 1 << BITS_U |
| levels of discretization for U channel in the threshold map | |
| static const unsigned int | NUM_V = 1 << BITS_V |
| levels of discretization for V channel in the threshold map | |
| static const unsigned int | MAX_COLORS = 20 |
| maximum number of different colors that can be segmented | |
Private Member Functions | |
| SegmentedColorGenerator (const SegmentedColorGenerator &fbk) | |
| don't call | |
| const SegmentedColorGenerator & | operator= (const SegmentedColorGenerator &fbk) |
| don't call | |
Member Typedef Documentation
type to use for color indexes
Definition at line 54 of file SegmentedColorGenerator.h.
use CMVision's color structure
Definition at line 55 of file SegmentedColorGenerator.h.
shorthand for CMVision's color name lookup data structure
Definition at line 56 of file SegmentedColorGenerator.h.
Constructor & Destructor Documentation
| SegmentedColorGenerator::SegmentedColorGenerator | ( | unsigned int | mysid, | |
| FilterBankGenerator * | fbg, | |||
| EventBase::EventTypeID_t | tid | |||
| ) |
constructor
Definition at line 10 of file SegmentedColorGenerator.cc.
| SegmentedColorGenerator::SegmentedColorGenerator | ( | unsigned int | mysid, | |
| FilterBankGenerator * | fbg, | |||
| EventBase::EventTypeID_t | tid, | |||
| unsigned int | syc, | |||
| unsigned int | suc, | |||
| unsigned int | svc | |||
| ) |
constructor, you can pass which channels to use as Y, U, & V channels
Definition at line 20 of file SegmentedColorGenerator.cc.
| SegmentedColorGenerator::~SegmentedColorGenerator | ( | ) | [virtual] |
destructor
Definition at line 29 of file SegmentedColorGenerator.cc.
| SegmentedColorGenerator::SegmentedColorGenerator | ( | const SegmentedColorGenerator & | fbk | ) | [private] |
don't call
Member Function Documentation
| void SegmentedColorGenerator::calcImage | ( | unsigned int | layer, | |
| unsigned int | channel | |||
| ) | [protected, virtual] |
should calculate new image data, called by getImage() only when imageValids indicates the image being requested is dirty (and only after getImage() has already called createImageCache())
This is where you'll want to put your user-specific code for calculating the image data
Implements FilterBankGenerator.
Definition at line 211 of file SegmentedColorGenerator.cc.
| unsigned char * SegmentedColorGenerator::createImageCache | ( | unsigned int | layer, | |
| unsigned int | chan | |||
| ) | const [protected, virtual] |
creates the image cache width[layer]*height[layer] + 1 -- why plus one? Because CMVision temporarily scribbles one-past end of each row
Implements FilterBankGenerator.
Definition at line 203 of file SegmentedColorGenerator.cc.
Referenced by loadBuffer().
| bool SegmentedColorGenerator::decodeColorsInc | ( | const char *& | buf, | |
| unsigned int & | len | |||
| ) | [virtual] |
in case you want to only load the color info but not the image (this is binary - *not* the same format as what's read in loadColorInfo)
Definition at line 180 of file SegmentedColorGenerator.cc.
Referenced by loadBuffer().
| void SegmentedColorGenerator::doEvent | ( | ) | [virtual] |
should receive FilterBankEvents from any standard format FilterBankGenerator (like RawCameraGenerator)
Reimplemented from FilterBankGenerator.
Definition at line 44 of file SegmentedColorGenerator.cc.
| bool SegmentedColorGenerator::encodeColorsInc | ( | char *& | buf, | |
| unsigned int & | len | |||
| ) | const [virtual] |
in case you want to only save the color info but not the image (this is binary - *not* the same format as what's read in loadColorInfo)
Definition at line 169 of file SegmentedColorGenerator.cc.
Referenced by saveBuffer(), RegionCam::writeRegions(), and SegCam::writeRLE().
| unsigned int SegmentedColorGenerator::getBinSize | ( | ) | const [virtual] |
The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging...
Reimplemented from FilterBankGenerator.
Definition at line 103 of file SegmentedColorGenerator.cc.
| static std::string SegmentedColorGenerator::getClassDescription | ( | ) | [static] |
Gives a short description of what this class of behaviors does... you should override this (but don't have to).
If you do override this, also consider overriding getDescription() to return it
Reimplemented from BehaviorBase.
Definition at line 65 of file SegmentedColorGenerator.h.
| unsigned int SegmentedColorGenerator::getColorIndex | ( | const rgb | color | ) | const |
returns index of color corresponding to a specific rgb color, or -1U if not found
Definition at line 95 of file SegmentedColorGenerator.h.
| unsigned int SegmentedColorGenerator::getColorIndex | ( | const std::string & | name | ) | const |
returns index of color corresponding to a string (uses a fast hash lookup), or -1U if not found
Definition at line 92 of file SegmentedColorGenerator.h.
Referenced by getColorIndex().
| unsigned int SegmentedColorGenerator::getColorIndex | ( | const char * | name | ) | const |
returns index of color corresponding to a string (uses a fast hash lookup), or -1U if not found
Definition at line 86 of file SegmentedColorGenerator.h.
Referenced by ProjectInterface::defLookupColorIndexByRgb(), and getColorRGB().
| const char* SegmentedColorGenerator::getColorName | ( | const unsigned int | index | ) | const |
returns the name of a color given its index
Definition at line 119 of file SegmentedColorGenerator.h.
Referenced by ProjectInterface::defLookupNumColors().
| rgb SegmentedColorGenerator::getColorRGB | ( | const std::string & | name | ) | const |
returns rgb struct (from colors.h) corresponding to a string. Returns black if index is invalid.
Definition at line 114 of file SegmentedColorGenerator.h.
| rgb SegmentedColorGenerator::getColorRGB | ( | const char * | name | ) | const |
returns rgb struct (from colors.h) corresponding to a string. Returns black if index is invalid.
Definition at line 109 of file SegmentedColorGenerator.h.
| rgb SegmentedColorGenerator::getColorRGB | ( | const unsigned int | index | ) | const |
returns rgb struct (from colors.h) corresponding to an int index. Returns black if index is invalid.
Definition at line 104 of file SegmentedColorGenerator.h.
Referenced by ProjectInterface::defLookupColorName(), getColorIndex(), and getColorRGB().
| virtual color_class_state* SegmentedColorGenerator::getColors | ( | ) | [virtual] |
gives direct access to the color information
Definition at line 83 of file SegmentedColorGenerator.h.
| virtual const color_class_state* SegmentedColorGenerator::getColors | ( | ) | const [virtual] |
gives direct access to the color information
Definition at line 80 of file SegmentedColorGenerator.h.
Referenced by doEvent(), getColorName(), and getColorRGB().
| virtual unsigned int SegmentedColorGenerator::getNumColors | ( | ) | const [virtual] |
returns the number of different colors available
Definition at line 77 of file SegmentedColorGenerator.h.
Referenced by DualCoding::MapBuilderRequest::addAllMinBlobAreas(), DualCoding::MapBuilderRequest::allColors(), doEvent(), and getColorIndex().
| unsigned int SegmentedColorGenerator::loadBuffer | ( | const char | buf[], | |
| unsigned int | len, | |||
| const char * | filename = NULL | |||
| ) | [virtual] |
The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging...
Reimplemented from FilterBankGenerator.
Definition at line 111 of file SegmentedColorGenerator.cc.
| bool SegmentedColorGenerator::loadColorInfo | ( | const std::string & | col_file | ) | [virtual] |
loads color information from a file, returns false if failed, true otherwise
Definition at line 78 of file SegmentedColorGenerator.cc.
| unsigned int SegmentedColorGenerator::loadThresholdMap | ( | const std::string & | tm_file | ) | [virtual] |
loads a threshold map into memory from a file, returns -1U if failed, otherwise returns corresponding channel
Definition at line 56 of file SegmentedColorGenerator.cc.
| const SegmentedColorGenerator& SegmentedColorGenerator::operator= | ( | const SegmentedColorGenerator & | fbk | ) | [private] |
don't call
| unsigned int SegmentedColorGenerator::saveBuffer | ( | char | buf[], | |
| unsigned int | len | |||
| ) | const [virtual] |
The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging...
Reimplemented from FilterBankGenerator.
Definition at line 139 of file SegmentedColorGenerator.cc.
| void SegmentedColorGenerator::setDimensions | ( | ) | [protected, virtual] |
sets stride parameter to width (as set by FilterBankGenerator::setDimensions())
Reimplemented from FilterBankGenerator.
Definition at line 191 of file SegmentedColorGenerator.cc.
| void SegmentedColorGenerator::setNumImages | ( | unsigned int | nLayers, | |
| unsigned int | nChannels | |||
| ) | [protected, virtual] |
ignores nChannels - the number of channels is always the number of loaded threshold maps
Reimplemented from FilterBankGenerator.
Definition at line 198 of file SegmentedColorGenerator.cc.
Referenced by loadThresholdMap(), and SegmentedColorGenerator().
Member Data Documentation
const unsigned int SegmentedColorGenerator::BITS_U = 6 [static, protected] |
bits of discretization for U channel in the threshold map
Definition at line 139 of file SegmentedColorGenerator.h.
Referenced by calcImage(), and loadThresholdMap().
const unsigned int SegmentedColorGenerator::BITS_V = 6 [static, protected] |
bits of discretization for V channel in the threshold map
Definition at line 140 of file SegmentedColorGenerator.h.
Referenced by calcImage(), and loadThresholdMap().
const unsigned int SegmentedColorGenerator::BITS_Y = 4 [static, protected] |
bits of discretization for Y channel in the threshold map
Definition at line 138 of file SegmentedColorGenerator.h.
Referenced by calcImage(), and loadThresholdMap().
color_name_map SegmentedColorGenerator::colorNames [protected] |
look up color indexes corresponding to names
Definition at line 162 of file SegmentedColorGenerator.h.
Referenced by doEvent(), getColorIndex(), loadColorInfo(), and ~SegmentedColorGenerator().
color_class_state SegmentedColorGenerator::colors[MAX_COLORS] [protected] |
array of available colors
Definition at line 161 of file SegmentedColorGenerator.h.
Referenced by decodeColorsInc(), encodeColorsInc(), getColors(), and loadColorInfo().
const unsigned int SegmentedColorGenerator::MAX_COLORS = 20 [static, protected] |
maximum number of different colors that can be segmented
Definition at line 144 of file SegmentedColorGenerator.h.
Referenced by loadColorInfo().
const unsigned int SegmentedColorGenerator::NUM_U = 1 << BITS_U [static, protected] |
levels of discretization for U channel in the threshold map
Definition at line 142 of file SegmentedColorGenerator.h.
Referenced by loadColorInfo(), and loadThresholdMap().
const unsigned int SegmentedColorGenerator::NUM_V = 1 << BITS_V [static, protected] |
levels of discretization for V channel in the threshold map
Definition at line 143 of file SegmentedColorGenerator.h.
Referenced by loadColorInfo(), and loadThresholdMap().
const unsigned int SegmentedColorGenerator::NUM_Y = 1 << BITS_Y [static, protected] |
levels of discretization for Y channel in the threshold map
Definition at line 141 of file SegmentedColorGenerator.h.
Referenced by loadColorInfo(), and loadThresholdMap().
unsigned int SegmentedColorGenerator::numColors [protected] |
number of available colors
Definition at line 160 of file SegmentedColorGenerator.h.
Referenced by decodeColorsInc(), encodeColorsInc(), getColorName(), getColorRGB(), getNumColors(), loadColorInfo(), and loadThresholdMap().
unsigned int SegmentedColorGenerator::srcUChan [protected] |
the channel of the source's U channel
Definition at line 154 of file SegmentedColorGenerator.h.
Referenced by calcImage().
unsigned int SegmentedColorGenerator::srcVChan [protected] |
the channel of the source's V channel
Definition at line 155 of file SegmentedColorGenerator.h.
Referenced by calcImage().
unsigned int SegmentedColorGenerator::srcYChan [protected] |
the channel of the source's Y channel
Definition at line 153 of file SegmentedColorGenerator.h.
Referenced by calcImage().
std::vector<std::string> SegmentedColorGenerator::tmapNames [protected] |
filename of each tmap;
Definition at line 158 of file SegmentedColorGenerator.h.
Referenced by loadColorInfo(), and loadThresholdMap().
std::vector<cmap_t*> SegmentedColorGenerator::tmaps [protected] |
list of threshold maps so you can segment the same source different ways
Definition at line 157 of file SegmentedColorGenerator.h.
Referenced by calcImage(), loadColorInfo(), loadThresholdMap(), setNumImages(), and ~SegmentedColorGenerator().
The documentation for this class was generated from the following files:
