MapBuilder Class Reference

#include <MapBuilder.h>

Inheritance diagram for 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 ()
virtual void	stop ()
virtual std::string	getDescription () const
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.
virtual void	doEvent ()
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	defineGazePts ()
	define 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< Point > &, 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< Point > &gazePts)
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	MBVnextGazePoint = 1<<5
static const MapBuilderVerbosity_t	MBVshapeSearch = 1<<6
static const MapBuilderVerbosity_t	MBVshapesFound = 1<<7
static const MapBuilderVerbosity_t	MBVgroundPlane = 1<<8
static const MapBuilderVerbosity_t	MBVprojectionFailed = 1<<9
static const MapBuilderVerbosity_t	MBVimportShapes = 1<<10
static const MapBuilderVerbosity_t	MBVnotAdmissible = 1<<11
static const MapBuilderVerbosity_t	MBVshapeMatch = 1<<12
static const MapBuilderVerbosity_t	MBVshapesMerge = 1<<13
static const MapBuilderVerbosity_t	MBVshouldSee = 1<<14
static const MapBuilderVerbosity_t	MBVdeleteShape = 1<<15
static const MapBuilderVerbosity_t	MBVsetAgent = 1<<16
static const MapBuilderVerbosity_t	MBVbadGazePoint = 1<<17
static const MapBuilderVerbosity_t	MBVskipShape = 1<<18
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)
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 = (-1U & ~(MBVevents \| MBVcomplete \| MBVgroundPlane \| MBVskipShape))
Friends
class	Lookout
class	BiColorMarkerData
class	Pilot

Member Typedef Documentation

typedef unsigned int MapBuilderVerbosity_t

Definition at line 53 of file MapBuilder.h.

Constructor & Destructor Documentation

MapBuilder ( )

Constructor.

Definition at line 43 of file MapBuilder.cc.

virtual ~MapBuilder ( ) [virtual]

Destructor.

Definition at line 118 of file MapBuilder.h.

MapBuilder ( const MapBuilder & ) [private]

never call this

Member Function Documentation

void calculateGroundPlane ( )

Definition at line 638 of file MapBuilder.cc.

void defineGazePts ( )

define gazePts either virtually or by scan

Definition at line 854 of file MapBuilder.cc.

bool determineNextGazePoint ( std::vector< Point > & gazePts )

Definition at line 325 of file MapBuilder.cc.

bool 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 261 of file MapBuilder.cc.

bool determineNextGazePoint ( )

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

Definition at line 249 of file MapBuilder.cc.

void doEvent ( ) [virtual]

Reimplemented from BehaviorBase.

Definition at line 174 of file MapBuilder.cc.

void doNextSearch ( )

Definition at line 351 of file MapBuilder.cc.

void doNextSearch2 ( )

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.

Definition at line 95 of file MapBuilder.cc.

unsigned int 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 101 of file MapBuilder.cc.

void executeRequest ( ) [protected]

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

Definition at line 115 of file MapBuilder.cc.

void extendLocal ( const fmat::Transform & baseToCam )

Definition at line 407 of file MapBuilder.cc.

void extendWorld ( const fmat::Transform & baseToCam )

Definition at line 420 of file MapBuilder.cc.

void filterGroundShapes ( const fmat::Transform & baseToCam )

Definition at line 569 of file MapBuilder.cc.

const Shape<AgentData>& getAgent ( ) const

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

Definition at line 137 of file MapBuilder.h.

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

Definition at line 1262 of file MapBuilder.cc.

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

Definition at line 1136 of file MapBuilder.cc.

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
	)			`[protected]`

Definition at line 1120 of file MapBuilder.cc.

Referenced by BiColorMarkerData::extractMarkers().

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
	)			`[protected]`

Definition at line 1060 of file MapBuilder.cc.

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

Definition at line 998 of file MapBuilder.cc.

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

Definition at line 949 of file MapBuilder.cc.

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

Definition at line 970 of file MapBuilder.cc.

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 `[protected]`

Definition at line 1192 of file MapBuilder.cc.

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

Definition at line 1017 of file MapBuilder.cc.

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

Definition at line 1223 of file MapBuilder.cc.

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

Definition at line 1043 of file MapBuilder.cc.

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

Definition at line 1156 of file MapBuilder.cc.

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

Definition at line 1076 of file MapBuilder.cc.

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

Reimplemented from BehaviorBase.

Definition at line 121 of file MapBuilder.h.

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

Definition at line 143 of file MapBuilder.h.

void grabCameraImageAndGo ( )

Definition at line 375 of file MapBuilder.cc.

ShapeRoot importLocalShapeToWorld ( const ShapeRoot & localShape )

Definition at line 491 of file MapBuilder.cc.

void importLocalToWorld ( )

Definition at line 485 of file MapBuilder.cc.

Shape< T > importWorldToLocal ( const Shape< T > & worldShape )

Definition at line 267 of file MapBuilder.h.

ShapeRoot importWorldToLocal ( const ShapeRoot & worldShape )

Definition at line 497 of file MapBuilder.cc.

bool isBadGazePoint ( const Point & Pt ) const

Definition at line 357 of file MapBuilder.cc.

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

Definition at line 513 of file MapBuilder.cc.

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

Definition at line 503 of file MapBuilder.cc.

static bool isRetained ( ) [static]

Definition at line 51 of file MapBuilder.h.

Referenced by VRmixin::VRmixin().

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

Definition at line 549 of file MapBuilder.cc.

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

Definition at line 683 of file MapBuilder.cc.

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

Definition at line 475 of file MapBuilder.cc.

void moveToNextGazePoint ( const bool manualOverride = false )

Starts robot moving to the next gaze point.

Definition at line 335 of file MapBuilder.cc.

void newSiftMatcher ( const std::string & siftDatabasePath )

Definition at line 1251 of file MapBuilder.cc.

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

never call this

void preStart ( ) [virtual]

Reimplemented from BehaviorBase.

Definition at line 59 of file MapBuilder.cc.

void printShS ( ShapeSpace & ShS ) const

Definition at line 921 of file MapBuilder.cc.

void processImage ( const LookoutSketchEvent & e )

Definition at line 214 of file MapBuilder.cc.

void projectToGround ( const fmat::Transform & camToBase )

Definition at line 664 of file MapBuilder.cc.

ShapeRoot projectToLocal ( ShapeRoot & shape )

Definition at line 668 of file MapBuilder.cc.

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

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

Definition at line 901 of file MapBuilder.cc.

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

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

Definition at line 809 of file MapBuilder.cc.

void requestComplete ( ) [protected]

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

Definition at line 436 of file MapBuilder.cc.

bool requestExitTest ( ) [protected]

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

Definition at line 429 of file MapBuilder.cc.

void saveSiftDatabase ( const std::string & siftDatabasePath )

Definition at line 1279 of file MapBuilder.cc.

void scanForGazePts ( )

Definition at line 393 of file MapBuilder.cc.

void 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 456 of file MapBuilder.cc.

static void setRetain ( bool r ) [static]

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

Definition at line 50 of file MapBuilder.h.

static void setVerbosity ( MapBuilderVerbosity_t v ) [static]

Definition at line 77 of file MapBuilder.h.

void stop ( ) [virtual]

Reimplemented from BehaviorBase.

Definition at line 85 of file MapBuilder.cc.

Referenced by VRmixin::stopCrew().

void storeImage ( bool useNextGazePoint )

Definition at line 363 of file MapBuilder.cc.

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