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SegmentedColorGenerator Class Reference

#include <SegmentedColorGenerator.h>

Inheritance diagram for SegmentedColorGenerator:

Inheritance graph
[legend]
List of all members.

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)
  • <unsigned int: 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 53 of file SegmentedColorGenerator.h.

Public Types

typedef uchar cmap_t
 type to use for color indexes
typedef CMVision::color_class_state color_class_state
 use CMVision's color structure
typedef __gnu_cxx::hash_map<
const char *, unsigned int,
__gnu_cxx::hash< const char * >,
hashcmp_eqstr
hashmap
 a shorthand for the hash structure that CMVision expects for the color lookups

Public Member Functions

 SegmentedColorGenerator (EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid)
 constructor
 SegmentedColorGenerator (EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid, 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 processEvent (const EventBase &event)
 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_stategetColors () const
 gives direct access to the color information
virtual color_class_stategetColors ()
 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)
unsigned int getColorIndex (const std::string &name) const
 returns index of color corresponding to a string (uses a fast hash lookup)
unsigned int getColorIndex (const rgb color) const
rgb getColorRGB (const int index) const
 returns rgb struct (from colors.h) correspondingto an int index.
rgb getColorRGB (const char *name) const
 returns rgb struct (from colors.h) corresponding to a string.
rgb getColorRGB (const std::string &name) const
 returns rgb struct (from colors.h) corresponding to a string.
virtual unsigned int getBinSize () const
 calculates space needed to save - if you can't precisely add up the size, overestimate and things will still work.
virtual unsigned int LoadBuffer (const char buf[], unsigned int len)
virtual unsigned int SaveBuffer (char buf[], unsigned int len) const
 Save to a given buffer.
virtual unsigned int encodeColors (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 unsigned int decodeColors (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

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 ()
 sets stride parameter to width (as set by FilterBankGenerator::setDimensions())
virtual unsigned char * createImageCache (unsigned int layer, unsigned int chan) const
 create new image data storage area for the cache - this called by getImage() only when the corresponding entry in images is NULL
virtual void calcImage (unsigned int layer, unsigned int chan) const
 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
hashmap colorNames
 look up color indexes corresponding to names

Static Protected Attributes

const unsigned int BITS_Y = 4
 bits of discretization for Y channel in the threshold map
const unsigned int BITS_U = 6
 bits of discretization for U channel in the threshold map
const unsigned int BITS_V = 6
 bits of discretization for V channel in the threshold map
const unsigned int NUM_Y = 1 << BITS_Y
 levels of discretization for Y channel in the threshold map
const unsigned int NUM_U = 1 << BITS_U
 levels of discretization for U channel in the threshold map
const unsigned int NUM_V = 1 << BITS_V
 levels of discretization for V channel in the threshold map
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 SegmentedColorGeneratoroperator= (const SegmentedColorGenerator &fbk)
 don't call


Member Typedef Documentation

typedef uchar SegmentedColorGenerator::cmap_t
 

type to use for color indexes

Definition at line 55 of file SegmentedColorGenerator.h.

Referenced by calcImage(), and loadThresholdMap().

typedef CMVision::color_class_state SegmentedColorGenerator::color_class_state
 

use CMVision's color structure

Definition at line 56 of file SegmentedColorGenerator.h.

Referenced by getColors().

typedef __gnu_cxx::hash_map<const char*, unsigned int, __gnu_cxx::hash<const char*>, hashcmp_eqstr> SegmentedColorGenerator::hashmap
 

a shorthand for the hash structure that CMVision expects for the color lookups

Definition at line 57 of file SegmentedColorGenerator.h.


Constructor & Destructor Documentation

SegmentedColorGenerator::SegmentedColorGenerator EventBase::EventGeneratorID_t  gid,
unsigned int  sid,
unsigned int  mysid
 

constructor

Definition at line 9 of file SegmentedColorGenerator.cc.

SegmentedColorGenerator::SegmentedColorGenerator EventBase::EventGeneratorID_t  gid,
unsigned int  sid,
unsigned int  mysid,
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 13 of file SegmentedColorGenerator.cc.

SegmentedColorGenerator::~SegmentedColorGenerator  )  [virtual]
 

destructor

Definition at line 17 of file SegmentedColorGenerator.cc.

SegmentedColorGenerator::SegmentedColorGenerator const SegmentedColorGenerator fbk  )  [private]
 

don't call


Member Function Documentation

void SegmentedColorGenerator::calcImage unsigned int  layer,
unsigned int  chan
const [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 207 of file SegmentedColorGenerator.cc.

unsigned char * SegmentedColorGenerator::createImageCache unsigned int  layer,
unsigned int  chan
const [protected, virtual]
 

create new image data storage area for the cache - this called by getImage() only when the corresponding entry in images is NULL

You should return the pointer you want stored in images to be returned by any calls to getFirstRow. Interpretation of the data it points to is dependant on the the generator which creates it

Implements FilterBankGenerator.

Definition at line 202 of file SegmentedColorGenerator.cc.

Referenced by LoadBuffer().

unsigned int SegmentedColorGenerator::decodeColors 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 173 of file SegmentedColorGenerator.cc.

Referenced by LoadBuffer().

unsigned int SegmentedColorGenerator::encodeColors 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 156 of file SegmentedColorGenerator.cc.

Referenced by SaveBuffer(), and SegCamBehavior::writeRLE().

unsigned int SegmentedColorGenerator::getBinSize  )  const [virtual]
 

calculates space needed to save - if you can't precisely add up the size, overestimate and things will still work.

Returns:
number of bytes read/written, 0 if error (or empty)

Reimplemented from FilterBankGenerator.

Definition at line 88 of file SegmentedColorGenerator.cc.

std::string SegmentedColorGenerator::getClassDescription  )  [inline, 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 66 of file SegmentedColorGenerator.h.

unsigned int SegmentedColorGenerator::getColorIndex const rgb  color  )  const [inline]
 

Definition at line 96 of file SegmentedColorGenerator.h.

unsigned int SegmentedColorGenerator::getColorIndex const std::string &  name  )  const [inline]
 

returns index of color corresponding to a string (uses a fast hash lookup)

Definition at line 94 of file SegmentedColorGenerator.h.

unsigned int SegmentedColorGenerator::getColorIndex const char *  name  )  const [inline]
 

returns index of color corresponding to a string (uses a fast hash lookup)

Definition at line 87 of file SegmentedColorGenerator.h.

Referenced by getColorIndex(), and getColorRGB().

rgb SegmentedColorGenerator::getColorRGB const std::string &  name  )  const [inline]
 

returns rgb struct (from colors.h) corresponding to a string.

Definition at line 115 of file SegmentedColorGenerator.h.

rgb SegmentedColorGenerator::getColorRGB const char *  name  )  const [inline]
 

returns rgb struct (from colors.h) corresponding to a string.

Definition at line 110 of file SegmentedColorGenerator.h.

rgb SegmentedColorGenerator::getColorRGB const int  index  )  const [inline]
 

returns rgb struct (from colors.h) correspondingto an int index.

Definition at line 105 of file SegmentedColorGenerator.h.

Referenced by getColorIndex(), and getColorRGB().

virtual color_class_state* SegmentedColorGenerator::getColors  )  [inline, virtual]
 

gives direct access to the color information

Definition at line 84 of file SegmentedColorGenerator.h.

virtual const color_class_state* SegmentedColorGenerator::getColors  )  const [inline, virtual]
 

gives direct access to the color information

Definition at line 81 of file SegmentedColorGenerator.h.

Referenced by getColorRGB(), and processEvent().

virtual unsigned int SegmentedColorGenerator::getNumColors  )  const [inline, virtual]
 

returns the number of different colors available

Definition at line 78 of file SegmentedColorGenerator.h.

Referenced by getColorIndex(), and processEvent().

unsigned int SegmentedColorGenerator::LoadBuffer const char  buf[],
unsigned int  len
[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 96 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 61 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 39 of file SegmentedColorGenerator.cc.

const SegmentedColorGenerator& SegmentedColorGenerator::operator= const SegmentedColorGenerator fbk  )  [private]
 

don't call

void SegmentedColorGenerator::processEvent const EventBase event  )  [virtual]
 

should receive FilterBankEvents from any standard format FilterBankGenerator (like RawCameraGenerator)

Reimplemented from FilterBankGenerator.

Definition at line 32 of file SegmentedColorGenerator.cc.

unsigned int SegmentedColorGenerator::SaveBuffer char  buf[],
unsigned int  len
const [virtual]
 

Save to a given buffer.

Parameters:
buf pointer to the memory where you should begin writing
len length of buf available. (this isn't all yours, constrain yourself to what you returned in getBinSize() )
Returns:
the number of bytes actually used

Reimplemented from FilterBankGenerator.

Definition at line 130 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 190 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 197 of file SegmentedColorGenerator.cc.

Referenced by loadThresholdMap().


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 129 of file SegmentedColorGenerator.h.

Referenced by loadThresholdMap().

const unsigned int SegmentedColorGenerator::BITS_V = 6 [static, protected]
 

bits of discretization for V channel in the threshold map

Definition at line 130 of file SegmentedColorGenerator.h.

Referenced by calcImage().

const unsigned int SegmentedColorGenerator::BITS_Y = 4 [static, protected]
 

bits of discretization for Y channel in the threshold map

Definition at line 128 of file SegmentedColorGenerator.h.

Referenced by loadThresholdMap().

hashmap SegmentedColorGenerator::colorNames [protected]
 

look up color indexes corresponding to names

Definition at line 151 of file SegmentedColorGenerator.h.

Referenced by getColorIndex(), loadColorInfo(), processEvent(), and ~SegmentedColorGenerator().

color_class_state SegmentedColorGenerator::colors[MAX_COLORS] [protected]
 

array of available colors

Definition at line 150 of file SegmentedColorGenerator.h.

Referenced by decodeColors(), encodeColors(), and loadColorInfo().

const unsigned int SegmentedColorGenerator::MAX_COLORS = 20 [static, protected]
 

maximum number of different colors that can be segmented

Definition at line 134 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 132 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 133 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 131 of file SegmentedColorGenerator.h.

Referenced by loadColorInfo(), and loadThresholdMap().

unsigned int SegmentedColorGenerator::numColors [protected]
 

number of available colors

Definition at line 149 of file SegmentedColorGenerator.h.

Referenced by decodeColors(), encodeColors(), loadColorInfo(), and loadThresholdMap().

unsigned int SegmentedColorGenerator::srcUChan [protected]
 

the channel of the source's U channel

Definition at line 143 of file SegmentedColorGenerator.h.

Referenced by calcImage().

unsigned int SegmentedColorGenerator::srcVChan [protected]
 

the channel of the source's V channel

Definition at line 144 of file SegmentedColorGenerator.h.

Referenced by calcImage().

unsigned int SegmentedColorGenerator::srcYChan [protected]
 

the channel of the source's Y channel

Definition at line 142 of file SegmentedColorGenerator.h.

Referenced by calcImage().

std::vector<std::string> SegmentedColorGenerator::tmapNames [protected]
 

filename of each tmap;

Definition at line 147 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 146 of file SegmentedColorGenerator.h.

Referenced by calcImage(), loadColorInfo(), loadThresholdMap(), setNumImages(), and ~SegmentedColorGenerator().


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

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