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MapBuilderRequest Class Reference

#include <MapBuilderRequest.h>

List of all members.


Detailed Description

Definition at line 13 of file MapBuilderRequest.h.


Public Types

enum  MapBuilderRequestType_t { cameraMap, groundMap, localMap, worldMap }
enum  GroundPlaneAssumption_t { onStand, onLegs, custom }

Public Member Functions

 MapBuilderRequest (MapBuilderRequestType_t reqtype=cameraMap)
 Constructor.
 MapBuilderRequest (const MapBuilderRequest &req)
 Copy constructor.
virtual ~MapBuilderRequest ()
 Destructor.
MapBuilderRequestType_t getRequestType () const
void setCustomGroundPlane (float const angle, float const height)
bool immediateRequest () const
 Returns true if the request can complete immediately (no head motion required and numSamples <= 1).

Public Attributes

MapBuilderRequestType_t requestType
 Type of map to build.
std::map< ShapeType_t,
std::set< color_index > > 
objectColors
 For each object type, a set of object color indices.
std::map< ShapeType_t,
std::set< color_index > > 
occluderColors
 For each object type, a set of occluder color indices.
std::map< color_index, int > minBlobAreas
 Minimum acceptable areas for blobs of specified colors, e.g., req.minBlobAreas[pink_index]=50.
std::map< color_index,
BlobData::BlobOrientation_t
blobOrientations
 Default orientation for blobs of specified colors.
std::map< color_index,
coordinate_t > 
assumedBlobHeights
 Fixed heights for pillar or poster blobs of specified colors.
unsigned int floorColor
unsigned int motionSettleTime
 Time in msec to wait before taking measurements or throwing completion event after head reaches gazePt.
int numSamples
 Number of camera images to combine, for noise reduction.
int sampleInterval
 Interval in msec between successive samples.
float maxDist
 Ignore objects farther than this distance.
bool clearShapes
 If true, clear the shape space at start of request.
bool pursueShapes
 If true, generate new gaze points as shapes are recognized.
bool manualHeadMotion
 If true, waits for !msg MoveHead before moving to next gaze point (for debugging).
bool rawY
 If true, leave an intensity (Y-channel) image in camera space for debugging.
bool removePts
 If true, remove pending gaze points if they're visible in current image.
bool doScan
 If true, do a continuous scan of the area to find interest points to be examined.
AngPi dTheta
 Angular step for scanning.
ShapeRoot searchArea
 The area to search, in egocentric coords.
std::queue
< LookoutSearchRequest * > 
worldTargets
 Queue of search requests for world targets.
void(* userCamProcessing )()
 User routine to call after cam space processing.
void(* userGroundProcessing )()
 User routine to call after ground space processing.
void(* userLocalProcessing )()
 User routine to call after local space processing.
void(* userWorldProcessing )()
 User routine to call after world space processing.
bool(* exitTest )()
 If true, terminate map building and post completion event.
enum
DualCoding::MapBuilderRequest::GroundPlaneAssumption_t 
groundPlaneAssumption
NEWMAT::ColumnVector customGroundPlane
 User-supplied ground plane.

Private Member Functions

MapBuilderRequestoperator= (const MapBuilderRequest &req)

Private Attributes

std::vector< PointgazePts
std::vector< NEWMAT::Matrix > baseToCamMats
unsigned int requestID
 Set by mapbuilder when the request is added to its request queue.

Friends

class MapBuilder

Member Enumeration Documentation

Enumerator:
cameraMap 
groundMap 
localMap 
worldMap 

Definition at line 17 of file MapBuilderRequest.h.

Enumerator:
onStand 
onLegs 
custom 

Definition at line 49 of file MapBuilderRequest.h.


Constructor & Destructor Documentation

MapBuilderRequest ( MapBuilderRequestType_t  reqtype = cameraMap  )  [inline]

Constructor.

Definition at line 58 of file MapBuilderRequest.h.

MapBuilderRequest ( const MapBuilderRequest req  )  [inline]

Copy constructor.

Definition at line 74 of file MapBuilderRequest.h.

virtual ~MapBuilderRequest (  )  [inline, virtual]

Destructor.

Definition at line 95 of file MapBuilderRequest.h.


Member Function Documentation

MapBuilderRequestType_t getRequestType (  )  const [inline]

void setCustomGroundPlane ( float const   angle,
float const   height 
) [inline]

Definition at line 99 of file MapBuilderRequest.h.

bool immediateRequest (  )  const [inline]

Returns true if the request can complete immediately (no head motion required and numSamples <= 1).

Definition at line 107 of file MapBuilderRequest.h.

Referenced by Pilot::Localize::DoStart(), MapBuilder::executeRequest(), and Pilot::Localize::processEvent().

MapBuilderRequest& operator= ( const MapBuilderRequest req  )  [private]


Friends And Related Function Documentation

friend class MapBuilder [friend]

Definition at line 14 of file MapBuilderRequest.h.


Member Data Documentation

std::map<ShapeType_t, std::set<color_index> > objectColors

std::map<ShapeType_t, std::set<color_index> > occluderColors

For each object type, a set of occluder color indices.

Definition at line 26 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCameraShapes().

std::map<color_index, int> minBlobAreas

Minimum acceptable areas for blobs of specified colors, e.g., req.minBlobAreas[pink_index]=50.

Definition at line 27 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCamBlobs(), and MapBuilder::getCameraShapes().

Default orientation for blobs of specified colors.

Definition at line 28 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCamBlobs(), and MapBuilder::getCameraShapes().

std::map<color_index, coordinate_t> assumedBlobHeights

Fixed heights for pillar or poster blobs of specified colors.

Definition at line 29 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCamBlobs(), and MapBuilder::getCameraShapes().

unsigned int floorColor

Definition at line 30 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCameraShapes().

unsigned int motionSettleTime

Time in msec to wait before taking measurements or throwing completion event after head reaches gazePt.

Definition at line 31 of file MapBuilderRequest.h.

Referenced by MapBuilder::scanForGazePts(), and MapBuilder::storeImage().

Number of camera images to combine, for noise reduction.

Definition at line 32 of file MapBuilderRequest.h.

Referenced by MapBuilder::getCameraShapes(), MapBuilderRequest::immediateRequest(), and MapBuilder::storeImage().

Interval in msec between successive samples.

Definition at line 33 of file MapBuilderRequest.h.

Referenced by MapBuilder::storeImage().

float maxDist

Ignore objects farther than this distance.

Definition at line 34 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest().

If true, clear the shape space at start of request.

Definition at line 35 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest().

If true, generate new gaze points as shapes are recognized.

Definition at line 36 of file MapBuilderRequest.h.

Referenced by MapBuilder::determineNextGazePoint(), MapBuilder::executeRequest(), and MapBuilderRequest::immediateRequest().

If true, waits for !msg MoveHead before moving to next gaze point (for debugging).

Definition at line 37 of file MapBuilderRequest.h.

Referenced by MapBuilder::moveToNextGazePoint().

If true, leave an intensity (Y-channel) image in camera space for debugging.

Definition at line 38 of file MapBuilderRequest.h.

Referenced by MapBuilder::processImage().

If true, remove pending gaze points if they're visible in current image.

Definition at line 39 of file MapBuilderRequest.h.

Referenced by MapBuilder::removeGazePts().

If true, do a continuous scan of the area to find interest points to be examined.

Definition at line 40 of file MapBuilderRequest.h.

Referenced by MapBuilder::defineGazePts(), MapBuilder::executeRequest(), and MapBuilderRequest::immediateRequest().

AngPi dTheta

Angular step for scanning.

Definition at line 41 of file MapBuilderRequest.h.

Referenced by MapBuilder::scanForGazePts().

void(* userCamProcessing)()

User routine to call after cam space processing.

Referenced by MapBuilder::processImage().

User routine to call after ground space processing.

Referenced by MapBuilder::processImage().

User routine to call after local space processing.

Referenced by MapBuilder::processImage().

User routine to call after world space processing.

Referenced by MapBuilder::processImage().

bool(* exitTest)()

If true, terminate map building and post completion event.

Referenced by MapBuilder::requestExitTest().

NEWMAT::ColumnVector customGroundPlane

User-supplied ground plane.

Definition at line 50 of file MapBuilderRequest.h.

Referenced by MapBuilder::calculateGroundPlane(), and MapBuilderRequest::setCustomGroundPlane().

std::vector<NEWMAT::Matrix> baseToCamMats [private]

unsigned int requestID [private]

Set by mapbuilder when the request is added to its request queue.

Definition at line 54 of file MapBuilderRequest.h.

Referenced by MapBuilder::executeRequest(), and MapBuilder::requestComplete().


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

DualCoding 4.0
Generated Thu Nov 22 00:53:58 2007 by Doxygen 1.5.4