BallDetectionGenerator Class Reference
#include <BallDetectionGenerator.h>
Inheritance diagram for BallDetectionGenerator:
Detailed Description
Uses segmented color region information to detect round objects.This expects its events to come from a RegionGenerator (or a compatable subclass)
Sends a VisionObjectEvent only for the largest ball found (if one is found)
You can set the index of the color of the ball to look for in the constructor, so you can have several of these running looking for balls of different colors.
This is one of our oldest code segments, and has been hacked on a lot, so apologies for a bit of a mess...
Definition at line 25 of file BallDetectionGenerator.h.
Public Member Functions | |
| BallDetectionGenerator (unsigned int mysid, const RegionGenerator *rg, unsigned int colorIdx, unsigned int threshmapChan, unsigned int noiseFiltering, float confidence) | |
| constructor | |
| virtual void | processEvent (const EventBase &event) |
| see class notes above for what data this can handle | |
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 Types | |
| typedef unsigned char | uchar |
| shorthand | |
Protected Member Functions | |
| void | testSendEvent (const FilterBankEvent &ev, float conf, int regX1, int regX2, int regY1, int regY2, int area) |
| decides wether to actually send the event based on confidence threshold. | |
| void | createEvent (EventBase::EventTypeID_t etid, float bbX1, float bbX2, float bbY1, float bbY2, float area, float rx, float ry, unsigned int frame) const |
| does the actual event sending | |
Static Protected Member Functions | |
| static int | calcEdgeMask (int x1, int x2, int y1, int y2, int width, int height) |
| returns a bit mask corresponding to edges touched by the coordinates passed | |
| static float | pct_from_mean (float a, float b) |
| returns
| |
Protected Attributes | |
| unsigned int | clrIdx |
| the index of the color of the ball we're looking for | |
| unsigned int | tmIdx |
| the index of the theshold map (channel) of the FilterBankEvent | |
| VObject | ball |
| information about the best ball found | |
| bool | present |
| if true, we think we have a ball in front of us | |
| unsigned int | count |
| for each frame where we don't agree with present's value, this is incremented and compared against noiseFilter. | |
| unsigned int | noiseThreshold |
| the number of frames to wait to make sure an object has dissappeared/reappeared | |
| float | confidenceThreshold |
| how sure we should be it's a ball before declaring it as such. | |
Static Protected Attributes | |
| static const unsigned int | NUM_CHECK = 10 |
| the number of regions to check (from largest to smallest) | |
Edge masks | |
| static const uchar | OFF_EDGE_LEFT = 1<<1 |
| bitmask for calcEdgeMask results | |
| static const uchar | OFF_EDGE_RIGHT = 1<<2 |
| bitmask for calcEdgeMask results | |
| static const uchar | OFF_EDGE_TOP = 1<<3 |
| bitmask for calcEdgeMask results | |
| static const uchar | OFF_EDGE_BOTTOM = 1<<4 |
| bitmask for calcEdgeMask results | |
Private Member Functions | |
| BallDetectionGenerator (const BallDetectionGenerator &fbk) | |
| don't call | |
| const BallDetectionGenerator & | operator= (const BallDetectionGenerator &fbk) |
| don't call | |
Classes | |
| struct | VObject |
| High level vision ouput structure for detected objects. More... | |
![\[ \left|\frac{a-b}{a+b}\right| \]](form_24.png)
Member Function Documentation
| static std::string BallDetectionGenerator::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 30 of file BallDetectionGenerator.h.
The documentation for this class was generated from the following files:
