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154 | #ifndef _IntegralFieldDetector_H_
#define _IntegralFieldDetector_H_
#include <ModuleFramework/Module.h>
#include "Representations/Infrastructure/Image.h"
#include "Representations/Perception/FieldPercept.h"
#include "Representations/Perception/ArtificialHorizon.h"
#include "Representations/Perception/BodyContour.h"
#include "Representations/Perception/MultiChannelIntegralImage.h"
#include "Representations/Perception/FieldColorPercept.h"
#include "Representations/Perception/FieldPercept.h"
#include "Tools/Debug/DebugRequest.h"
#include <Tools/Debug/DebugImageDrawings.h>
#include <Tools/Debug/DebugDrawings.h>
#include <Tools/DataStructures/ParameterList.h>
#include <Tools/Debug/DebugParameterList.h>
#include "Tools/Debug/DebugModify.h"
#include "Tools/DoubleCamHelpers.h"
BEGIN_DECLARE_MODULE(IntegralFieldDetector)
PROVIDE(DebugRequest)
PROVIDE(DebugImageDrawings)
PROVIDE(DebugImageDrawingsTop)
PROVIDE(DebugDrawings)
PROVIDE(DebugParameterList)
REQUIRE(FrameInfo)
// TODO: why is the image needed?
// getImage().width() ...
REQUIRE(Image)
REQUIRE(ImageTop)
REQUIRE(ArtificialHorizon)
REQUIRE(ArtificialHorizonTop)
REQUIRE(FieldColorPercept)
REQUIRE(FieldColorPerceptTop)
REQUIRE(BallDetectorIntegralImage)
REQUIRE(BallDetectorIntegralImageTop)
PROVIDE(FieldPercept)
PROVIDE(FieldPerceptTop)
END_DECLARE_MODULE(IntegralFieldDetector)
class IntegralFieldDetector : private IntegralFieldDetectorBase
{
public:
IntegralFieldDetector();
virtual ~IntegralFieldDetector();
void execute()
{
execute(CameraInfo::Top);
execute(CameraInfo::Bottom);
}
void execute(CameraInfo::CameraID id);
class Parameters: public ParameterList
{
public:
Parameters() : ParameterList("IntegralFieldDetector")
{
PARAMETER_REGISTER(min_field_area) = 5600;
PARAMETER_REGISTER(max_skip_cells) = 1;
PARAMETER_REGISTER(min_successive_green) = 3;
PARAMETER_REGISTER(proportion_of_green) = .5;
PARAMETER_REGISTER(end_proportion_of_green) = .3;
PARAMETER_REGISTER(positive_score) = 1;
PARAMETER_REGISTER(negative_score) = -1;
// number of columns and rows in the grid
PARAMETER_REGISTER(top.column_count) = 32;
PARAMETER_REGISTER(top.row_count) = 24;
PARAMETER_REGISTER(bottom.column_count) = 22;
PARAMETER_REGISTER(bottom.row_count) = 14;
PARAMETER_REGISTER(top.set_image_as_field) = false;
PARAMETER_REGISTER(bottom.set_image_as_field) = false;
syncWithConfig();
}
int min_field_area;
double proportion_of_green;
double end_proportion_of_green;
int max_skip_cells;
int min_successive_green;
double positive_score;
double negative_score;
struct cam_params {
int column_count;
int row_count;
bool set_image_as_field;
} ;
cam_params top, bottom;
} params;
private:
class Cell {
public:
int minX;
int minY;
int maxX;
int maxY;
inline double calc_green_density(const BallDetectorIntegralImage& integralImage) {
const int factor = integralImage.FACTOR;
const int minX = this->minX/factor;
const int minY = this->minY/factor;
const int maxX = this->maxX/factor;
const int maxY = this->maxY/factor;
const double sum = integralImage.getSumForRect(minX, minY, maxX, maxY, 1);
const double density = sum / ((maxX - minX + 1) * (maxY - minY + 1));
ASSERT(density <= 1.);
return density;
}
inline int count_pixel() {
return (maxX - minX + 1) * (maxY - minY + 1);<--- Technically the member function 'IntegralFieldDetector::Cell::count_pixel' can be const. [+]The member function 'IntegralFieldDetector::Cell::count_pixel' can be made a const function. Making this function 'const' should not cause compiler errors. Even though the function can be made const function technically it may not make sense conceptually. Think about your design and the task of the function first - is it a function that must not change object internal state?
}
};
CameraInfo::CameraID cameraID;
std::vector<Vector2i> endpoints;
void find_endpoint(int x, const Cell& cell, Vector2i& endpoint);
void create_field();
DOUBLE_CAM_PROVIDE(IntegralFieldDetector, DebugImageDrawings);
// double cam interface
DOUBLE_CAM_REQUIRE(IntegralFieldDetector, Image);
DOUBLE_CAM_REQUIRE(IntegralFieldDetector, ArtificialHorizon);
DOUBLE_CAM_REQUIRE(IntegralFieldDetector, FieldColorPercept);
DOUBLE_CAM_REQUIRE(IntegralFieldDetector, BallDetectorIntegralImage);
DOUBLE_CAM_PROVIDE(IntegralFieldDetector, FieldPercept);
};
#endif /* _IntegralFieldDetector_H_ */
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