Provides locations of key field landmarks and helper functions to draw the field out in 2D and 3D. More...

#include <field_provider.h>

Public Member Functions
	FieldProvider (float x=0.0, float y=0.0, float z=0.0)
	Constructor with field center coordinates.
void	get2dField (IplImage *image, int highlightPoint=-1)
	Draws out a 2D field to scale on an OpenCV IplImage.
void	get3dField (pcl_visualization::PCLVisualizer &visualizer)
	Draws out a 3d field to scale in a PCLVisualizer Window.
Eigen::Vector3f	getGroundPoint (int index)
	Returns the true location of a landmark.
Private Member Functions
void	convertCoordinates (cv::Point2d &pos2d, int height, int width, const Eigen::Vector3f &pos3d)
	Scales the points from 3D locations to the correct pixel on an IplImage.
void	draw2dCenterCircle (IplImage *image, const Eigen::Vector3f &centerPt, const Eigen::Vector3f &circlePt, const CvScalar &color, int width)
	Draws the center circle on an IplImage from 3D points using the appropriate scale.
void	draw2dCircle (IplImage *image, const Eigen::Vector3f &pt, int radius, const CvScalar &color, int width)
	Draws a dot (small circle) on an IplImage from 3D points using the appropriate scale.
void	draw2dLine (IplImage *image, const Eigen::Vector3f &ep1, const Eigen::Vector3f &ep2, const CvScalar &color, int width)
	Draws a line on an IplImage from 3D points using the appropriate scale.
void	draw3dCenterCircle (pcl_visualization::PCLVisualizer &visualizer, const Eigen::Vector3f &centerPt, const Eigen::Vector3f &circlePt, double r, double g, double b, const std::string &name)
	Draws the center circle in 3d space.
void	draw3dLine (pcl_visualization::PCLVisualizer &visualizer, const Eigen::Vector3f &ep1, const Eigen::Vector3f &ep2, double r, double g, double b, const std::string &name)
	Draws a line in 3D space.
Private Attributes
Eigen::Vector3f	centerField
	Coordinates for the field center.
Eigen::Vector3f	groundPoints [NUM_GROUND_PLANE_POINTS]
	True locations of landmarks on the ground plane.
Eigen::Vector3f	highPoints [NUM_HIGH_POINTS]
	True locations of the top points in a goal (for visualization)

Detailed Description

Provides locations of key field landmarks and helper functions to draw the field out in 2D and 3D.

Definition at line 84 of file field_provider.h.

Constructor & Destructor Documentation

ground_truth::FieldProvider::FieldProvider	(	float	x = `0.0`,
		float	y = `0.0`,
		float	z = `0.0`
	)

Constructor with field center coordinates.

This constructor always assumes the xy plane to be the ground

Definition at line 35 of file field_provider.cpp.

Member Function Documentation

void ground_truth::FieldProvider::convertCoordinates	(	cv::Point2d &	pos2d,
		int	height,
		int	width,
		const Eigen::Vector3f &	pos3d
	)		`[private]`

Scales the points from 3D locations to the correct pixel on an IplImage.

Definition at line 114 of file field_provider.cpp.

void ground_truth::FieldProvider::draw2dCenterCircle	(	IplImage *	image,
		const Eigen::Vector3f &	centerPt,
		const Eigen::Vector3f &	circlePt,
		const CvScalar &	color,
		int	width
	)		`[private]`

Draws the center circle on an IplImage from 3D points using the appropriate scale.

Draws a dot (small circle) on an IplImage from 3D points using the appropriate scale.

Definition at line 94 of file field_provider.cpp.

void ground_truth::FieldProvider::draw2dCircle	(	IplImage *	image,
		const Eigen::Vector3f &	pt,
		int	radius,
		const CvScalar &	color,
		int	width
	)		`[private]`

Draws a dot (small circle) on an IplImage from 3D points using the appropriate scale.

Draws the center circle on an IplImage from 3D points using the appropriate scale.

Definition at line 105 of file field_provider.cpp.

void ground_truth::FieldProvider::draw2dLine	(	IplImage *	image,
		const Eigen::Vector3f &	ep1,
		const Eigen::Vector3f &	ep2,
		const CvScalar &	color,
		int	width
	)		`[private]`

Draws a line on an IplImage from 3D points using the appropriate scale.

Definition at line 84 of file field_provider.cpp.

void ground_truth::FieldProvider::draw3dCenterCircle	(	pcl_visualization::PCLVisualizer &	visualizer,
		const Eigen::Vector3f &	centerPt,
		const Eigen::Vector3f &	circlePt,
		double	r,
		double	g,
		double	b,
		const std::string &	name
	)		`[private]`

Draws the center circle in 3d space.

This method currently uses the PCLVisualizer API for drawing circles. Currently a wireframe of the center circle in the form of a Hexagon is drawn

Definition at line 214 of file field_provider.cpp.

void ground_truth::FieldProvider::draw3dLine	(	pcl_visualization::PCLVisualizer &	visualizer,
		const Eigen::Vector3f &	ep1,
		const Eigen::Vector3f &	ep2,
		double	r,
		double	g,
		double	b,
		const std::string &	name
	)		`[private]`

Draws a line in 3D space.

This function also draw out 2 small spheres at the end of the line

Definition at line 203 of file field_provider.cpp.

void ground_truth::FieldProvider::get2dField	(	IplImage *	image,
		int	highlightPoint = `-1`
	)

Draws out a 2D field to scale on an OpenCV IplImage.

Parameters:

image	The image on which the field is to be drawn
highlightPoint	Indicates which landmark is to be highlighted(default is none)

Definition at line 124 of file field_provider.cpp.

void ground_truth::FieldProvider::get3dField ( pcl_visualization::PCLVisualizer & visualizer )

Draws out a 3d field to scale in a PCLVisualizer Window.

Parameters:

visualizer the PCLVisualizer window object

Definition at line 227 of file field_provider.cpp.

Eigen::Vector3f ground_truth::FieldProvider::getGroundPoint ( int index ) [inline]

Returns the true location of a landmark.

Parameters:

index Identifier for the landmark

Returns:: The 3D location of the landmark

Definition at line 161 of file field_provider.h.

Member Data Documentation

Eigen::Vector3f ground_truth::FieldProvider::centerField [private]

Coordinates for the field center.

Definition at line 88 of file field_provider.h.

Eigen::Vector3f ground_truth::FieldProvider::groundPoints[NUM_GROUND_PLANE_POINTS] [private]

True locations of landmarks on the ground plane.

Definition at line 89 of file field_provider.h.

Eigen::Vector3f ground_truth::FieldProvider::highPoints[NUM_HIGH_POINTS] [private]

True locations of the top points in a goal (for visualization)

Definition at line 90 of file field_provider.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation