SegmentedColorGenerator Class Reference
#include <SegmentedColorGenerator.h>
Inheritance diagram for SegmentedColorGenerator:
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) - <
unsignedint: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 CMVision::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 (unsigned int mysid, FilterBankGenerator *fbg, EventBase::EventTypeID_t tid) | |
| constructor | |
| SegmentedColorGenerator (unsigned int mysid, FilterBankGenerator *fbg, EventBase::EventTypeID_t tid, 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_state * | getColors () const |
| gives direct access to the color information | |
| virtual color_class_state * | getColors () |
| 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), or -1U if not found | |
| unsigned int | getColorIndex (const std::string &name) const |
| returns index of color corresponding to a string (uses a fast hash lookup), or -1U if not found | |
| unsigned int | getColorIndex (const rgb color) const |
| returns index of color corresponding to a specific rgb color, or -1U if not found | |
| rgb | getColorRGB (const unsigned int index) const |
| returns rgb struct (from colors.h) corresponding to an int index. Returns black if index is invalid. | |
| rgb | getColorRGB (const char *name) const |
| returns rgb struct (from colors.h) corresponding to a string. Returns black if index is invalid. | |
| rgb | getColorRGB (const std::string &name) const |
| returns rgb struct (from colors.h) corresponding to a string. Returns black if index is invalid. | |
| const char * | getColorName (const unsigned int index) const |
| returns the name of a color given its index | |
| 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. | |
| virtual bool | encodeColorsInc (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 bool | decodeColorsInc (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 | |
| 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) |
| ignores nChannels - the number of channels is always the number of loaded threshold maps | |
| virtual void | setDimensions () |
| virtual unsigned char * | createImageCache (unsigned int layer, unsigned int chan) const |
| creates the image cache width[layer]*height[layer] + 1 -- why plus one? Because CMVision temporarily scribbles one-past end of each row | |
| 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()) | |
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 | |
| static const unsigned int | BITS_Y = 4 |
| bits of discretization for Y channel in the threshold map | |
| static const unsigned int | BITS_U = 6 |
| bits of discretization for U channel in the threshold map | |
| static const unsigned int | BITS_V = 6 |
| bits of discretization for V channel in the threshold map | |
| static const unsigned int | NUM_Y = 1 << BITS_Y |
| levels of discretization for Y channel in the threshold map | |
| static const unsigned int | NUM_U = 1 << BITS_U |
| levels of discretization for U channel in the threshold map | |
| static const unsigned int | NUM_V = 1 << BITS_V |
| levels of discretization for V channel in the threshold map | |
| static 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 SegmentedColorGenerator & | operator= (const SegmentedColorGenerator &fbk) |
| don't call | |
Classes | |
| class | NoThresholdException |
| thrown if no threshold maps are available More... | |
Member Function Documentation
| void SegmentedColorGenerator::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 214 of file SegmentedColorGenerator.cc.
| unsigned int SegmentedColorGenerator::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 106 of file SegmentedColorGenerator.cc.
| static 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::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 114 of file SegmentedColorGenerator.cc.
| unsigned int SegmentedColorGenerator::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 142 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 194 of file SegmentedColorGenerator.cc.
The documentation for this class was generated from the following files:
