CDTGenerator Class Reference
#include <CDTGenerator.h>
Inheritance diagram for CDTGenerator:
Detailed Description
Generates SegmentedColorFilterBankEvents with images provided from the system.The Aibo has hardware-level color segmentation based on rectangular regions of UV color space. This less flexible than the CMVision segmentation routines, which allow arbitrary shapes in color space, but the CDT (Color Detection Table) implementation has the major advantage of being done in hardware.
This class doesn't do any processing of its own, it simply provides access to the CDT segmented images generated by the system.
To use this, you will first have to send the system the color regions that define the CDT. You'll need to look in the OPEN-R documentation regarding the OCdtVectorData data structure and the New/Set/DeleteCdtVectorData() functions.
For now, the color information in the Segmented Color Events will be NULL, so you won't be able to connect it to the rest of the CMVision stages unless you fill it in. Filling in the color information will require modifications of this source - I'm consciously cutting some corners to get this out the door sooner. Hopefully someone who needs this capability can pick up where I left off. It would be nice if someone made a version of CMVision's .col file format which also held the CDT information so the whole thing could be set up with one file load.
Only the actual layers sent by the system will be referenced - no double resolution layer. Much like RawCameraGenerator, the extra subsampled images are simply using a larger interleave value. If you want the images in continuous memory, you'll need to pass this through a de-interleaver stage.
Only one channel is available.
Definition at line 43 of file CDTGenerator.h.
Public Types | |
| CHAN_CDT | |
| Color Detection Table, segmented image. | |
| NUM_CHANNELS | |
| number of channels per resolution layer | |
| enum | channel_id_t { CHAN_CDT, NUM_CHANNELS } |
| holds id values for specifying image channel/bands More... | |
Public Member Functions | |
| CDTGenerator (unsigned int numRawLayers, unsigned int numCalcLayers, unsigned int mysid, EventBase::EventGeneratorID_t gid, unsigned int sid) | |
| constructor | |
| virtual | ~CDTGenerator () |
| destructor | |
| virtual void | DoStart () |
| need to override EventGeneratorBase's lazy listening -- as a root stage, need to remember each frame, just in case it might be used | |
| virtual void | processEvent (const EventBase &event) |
| called with system's image info | |
| virtual void | freeCaches () |
| the memory for all layers was allocated by system, so we just set them to NULL before calling FilterBankGenerator::freeCaches() so it won't try to delete them | |
| virtual unsigned int | getBinSize () const |
| Calculates space needed to save - if you can't precisely add up the size, just make sure to 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 in memory. | |
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) |
| resizes the filter bank information storage area, you should override this to do your setup and call it from your constructor | |
| virtual void | setDimensions () |
| resets the current width, height, stride, and skip for all of the layers | |
| 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) |
| 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()) | |
| virtual void | destruct () |
| deletes the arrays | |
Protected Attributes | |
| unsigned int | numRealLayers |
| the number of actual layers to expect from the system | |
| unsigned char ** | layers |
| an array of pointers to actual system memory for each layer | |
| const OFbkImageInfo ** | imageInfos |
| information about image properties | |
Private Member Functions | |
| CDTGenerator (const CDTGenerator &fbk) | |
| don't call | |
| const CDTGenerator & | operator= (const CDTGenerator &fbk) |
| don't call | |
Member Enumeration Documentation
holds id values for specifying image channel/bands
- Enumerator:
-
CHAN_CDT Color Detection Table, segmented image. NUM_CHANNELS number of channels per resolution layer
Definition at line 57 of file CDTGenerator.h.
Member Function Documentation
| void CDTGenerator::calcImage | ( | unsigned int | layer, | |
| unsigned int | chan | |||
| ) | [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 200 of file CDTGenerator.cc.
| unsigned char * CDTGenerator::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 195 of file CDTGenerator.cc.
| unsigned int CDTGenerator::getBinSize | ( | ) | const [virtual] |
Calculates space needed to save - if you can't precisely add up the size, just make sure to overestimate and things will still work.
getBinSize is used for reserving buffers during serialization, but does not necessarily determine the actual size of what is written -- the return value of saveBuffer() specifies that after the data actually has been written. If getBinSize overestimates, the extra memory allocation is only temporary, no extra filler bytes are actually stored.
- Returns:
- number of bytes read/written, 0 if error (or empty)
Reimplemented from FilterBankGenerator.
Definition at line 88 of file CDTGenerator.cc.
| static std::string CDTGenerator::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 54 of file CDTGenerator.h.
| unsigned int CDTGenerator::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 98 of file CDTGenerator.cc.
| void CDTGenerator::processEvent | ( | const EventBase & | event | ) | [virtual] |
called with system's image info
The const casts in this function are regretable but necessary since the OPEN-R OFbkImage constructor requires mutable arguments, even though it shouldn't be modifying the data
Reimplemented from FilterBankGenerator.
Definition at line 32 of file CDTGenerator.cc.
| unsigned int CDTGenerator::saveBuffer | ( | char | buf[], | |
| unsigned int | len | |||
| ) | const [virtual] |
Save to a given buffer in memory.
- Parameters:
-
buf pointer to the memory where you should begin writing len length of buf available. (this isn't necessarily all yours, constrain yourself to what you returned in getBinSize() )
- Returns:
- the number of bytes actually used
Reimplemented from FilterBankGenerator.
Definition at line 105 of file CDTGenerator.cc.
| void CDTGenerator::setNumImages | ( | unsigned int | nLayers, | |
| unsigned int | nChannels | |||
| ) | [protected, virtual] |
resizes the filter bank information storage area, you should override this to do your setup and call it from your constructor
In general, it isn't expected that FilterBankGenerator's should necessarily be dynamically resizeable (although it would be nice), which is why this isn't public. If yours is, just add some pubic accessor functions which call this. In general, the included subclasses should be able to handle being resized, but there's no reason to do so since the system won't be changing its available resolutions at run time.
The default implementation is a no-op if(numLayers==nLayers && numChannels==nChannels)
Reimplemented from FilterBankGenerator.
Definition at line 179 of file CDTGenerator.cc.
Referenced by CDTGenerator().
The documentation for this class was generated from the following files:
