#include <assert.h>
#include <sys/time.h>
#include "CRC.hpp"
#include "CV.hpp"
#include "File.hpp"
#include "FEC.hpp"
#include "Map.hpp"
#include "String.hpp"
#include "Tag.hpp"

Include dependency graph for Fiducials.hpp:

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Classes
struct	Fiducials__Struct
struct	Fiducials_Create__Struct
struct	Fiducials_Results__Struct
Typedefs
typedef struct Fiducials__Struct *	Fiducials
typedef void(*	Fiducials_Arc_Announce_Routine )(void *announce_object, int from_id, double from_x, double from_y, double from_z, int to_id, double to_x, double to_y, double to_z, double goodness, bool in_spanning_tree)
typedef struct Fiducials_Create__Struct *	Fiducials_Create
typedef void(*	Fiducials_Fiducial_Announce_Routine )(void *announce_object, int id, int direction, double world_diagonal, double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4)
typedef void(*	Fiducials_Location_Announce_Routine )(void *announce_object, int id, double x, double y, double z, double bearing)
typedef struct Fiducials_Results__Struct *	Fiducials_Results
typedef void(*	Fiducials_Tag_Announce_Routine )(void *announce_object, int id, double x, double y, double z, double twist, double diagonal, double distance_per_pixel, bool visible, int hop_count)
typedef bool	Mapping [64]
typedef struct timeval *	Time_Value
Functions
void	Fiducials__arc_announce (void *announce_object, int from_id, double from_x, double from_y, double from_z, int to_id, double to_x, double to_y, double to_z, double goodness, bool in_spanning_tree)
	Callback routine that prints a new Arc object when it shows up.
Fiducials	Fiducials__create (CV_Image original_image, Fiducials_Create fiducials_create)
	Create and return a Fiducials object.
void	Fiducials__free (Fiducials fiduicals)
	will release the storage associated with fiducials.
void	Fiducials__image_set (Fiducials fiducials, CV_Image image)
	Sets the original image for *fiducials.
void	Fiducials__image_show (Fiducials fiducials, bool show)
	Is a HighGUI interface to show the current image.
void	Fiducials__location_announce (void *object, int id, double x, double y, double z, double bearing)
	Callback routine that prints out location when it changes.
int	Fiducials__point_sample (Fiducials fiducials, CV_Point2D32F point)
	Helper routine to sample a point from the image in fiducials.
int	Fiducials__points_maximum (Fiducials fiducials, CV_Point2D32F_Vector points, unsigned int start_index, unsigned int end_index)
	Return the maximum value of the points in points.
int	Fiducials__points_minimum (Fiducials fiducials, CV_Point2D32F_Vector points, unsigned int start_index, unsigned int end_index)
	Return the minimum value of the points in points.
Fiducials_Results	Fiducials__process (Fiducials fiducials)
	Process the current image associated with fiducials.
CV_Point2D32F_Vector	Fiducials__references_compute (Fiducials fiducials, CV_Point2D32F_Vector corners)
	Return 8 sample locations to determine if a quadralateral is worth testing for quadralateral'ness.
void	Fiducials__sample_points_compute (CV_Point2D32F_Vector corners, CV_Point2D32F_Vector sample_points)
	Compute the fiducial locations to sample using corners.
void	Fiducials__sample_points_helper (String_Const label, CV_Point2D32F corner, CV_Point2D32F sample_point)
void	Fiducials__tag_announce (void *announce_object, int id, double x, double y, double z, double twist, double diagonal, double distance_per_pixel, bool visible, int hop_count)
	Print out tag update information.
Fiducials_Create	Fiducials_Create__one_and_only (void)
	Returns the one and only Fiducials_Create object.

Typedef Documentation

typedef struct Fiducials__Struct* Fiducials

Definition at line 6 of file Fiducials.hpp.

typedef void(* Fiducials_Arc_Announce_Routine)(void *announce_object, int from_id, double from_x, double from_y, double from_z, int to_id, double to_x, double to_y, double to_z, double goodness, bool in_spanning_tree)

Definition at line 13 of file Fiducials.hpp.

typedef struct Fiducials_Create__Struct* Fiducials_Create

Definition at line 7 of file Fiducials.hpp.

typedef void(* Fiducials_Fiducial_Announce_Routine)(void *announce_object, int id, int direction, double world_diagonal, double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4)

Definition at line 26 of file Fiducials.hpp.

typedef void(* Fiducials_Location_Announce_Routine)(void *announce_object, int id, double x, double y, double z, double bearing)

Definition at line 18 of file Fiducials.hpp.

typedef struct Fiducials_Results__Struct* Fiducials_Results

Definition at line 8 of file Fiducials.hpp.

typedef void(* Fiducials_Tag_Announce_Routine)(void *announce_object, int id, double x, double y, double z, double twist, double diagonal, double distance_per_pixel, bool visible, int hop_count)

Definition at line 21 of file Fiducials.hpp.

typedef bool Mapping[64]

Definition at line 41 of file Fiducials.hpp.

typedef struct timeval* Time_Value

Definition at line 44 of file Fiducials.hpp.

Function Documentation

void Fiducials__arc_announce	(	void *	announce_object,
		int	from_id,
		double	from_x,
		double	from_y,
		double	from_z,
		int	to_id,
		double	to_x,
		double	to_y,
		double	to_z,
		double	goodness,
		bool	in_spanning_tree
	)

Callback routine that prints a new *Arc* object when it shows up.

Parameters:

announce_object	is unused (other routines might us it).
from_id	is the tag identifier that has the lower tag id number.
from_x	is the X coordinate of the from tag.
from_y	is the Y coordinate of the from tag.
from_z	is the Z coordinate of the from tag.
to_id	is the tag identifier that has the higher tag id number.
to_x	is the X coordinate of the to tag.
to_y	is the Y coordinate of the to tag.
to_z	is the Z coordinate of the to tag.
goodness	is the distance between the arc center point and the camera.
in_spanning_tree	is true if the arc is in the spanning tree.

Fiducials__arc_announce*() is a callback routine that can be called whenever an arc data structure is modified. The announce routine is specified as an argument to *Map__create*().

Definition at line 414 of file Fiducials.cpp.

Fiducials Fiducials__create	(	CV_Image	original_image,
		Fiducials_Create	fiducials_create
	)

Create and return a *Fiducials* object.

Parameters:

original_image	is the image to start with.
fiducials_create	is a Fiducials_Create object that specifies the various features to enable or disable.

Fiducials__create*() creates and returns a *Fiducials* object using the values in *fiduicials_create*.

Definition at line 611 of file Fiducials.cpp.

void Fiducials__free ( Fiducials fiducials )

will release the storage associated with *fiducials*.

Parameters:

fiducials is the *Fiducials* object to release.

Fiducials__free*() releases the storage associated with *fiducials*.

Definition at line 850 of file Fiducials.cpp.

void Fiducials__image_set	(	Fiducials	fiducials,
		CV_Image	image
	)

Sets the original image for *fiducials.

Parameters:

fiducials	is the Fiducials object to use.
image	is the new image to use as the original image.

Fiducials__image_set*() will set the original image for *fiducials* to *image*.

Definition at line 481 of file Fiducials.cpp.

void Fiducials__image_show	(	Fiducials	fiducials,
		bool	show
	)

Is a HighGUI interface to show the current image.

Parameters:

fiducials	is the Fiducials object that contains the image.
show	is true to force the HighGUI interface to activate.

Fiducials__image_show*() will cause an image to be shown with at each of the various stages of the recognition cycle. This only occurs if *show* is *true*.

The character commands are:

'/033' -- Escape from program. '+' -- View next stage in processing pipeline. '-' -- View previous stage in processing pipeline. '<' -- Goto beginning of processing pipeline. 'b' -- Toggle image blur. 'f' -- Flip fiducials allong X axis

Definition at line 505 of file Fiducials.cpp.

void Fiducials__location_announce	(	void *	announce_object,
		int	id,
		double	x,
		double	y,
		double	z,
		double	bearing
	)

Callback routine that prints out location when it changes.

Parameters:

announce_object	is unused.
id	is ???
x	is the X location of the robot.
y	is the Y location of the robot.
z	is the Y location of the robot (currently ignored.)
bearing	is the robot bearin in radians.

Fiducials__location_announce*() is a callback routine that can be calld to print out the location information. The location announce routine is a field of the *Fiducials_Create__Struct*.

Definition at line 439 of file Fiducials.cpp.

int Fiducials__point_sample	(	Fiducials	fiducials,
		CV_Point2D32F	point
	)

Helper routine to sample a point from the image in *fiducials*.

Parameters:

fiducials	is the Fiducials object that contains the image.
point	is the point location to sample.

Returns:: weighted sample value.

Fiducials__point_sample*() will return a weighted sample value for point* in the image associated with *fiducials*. The weight algorithm is controlled by the *weights_index* field of *fiducials*. The returned value is between 0 (black) to 255 (white).

Definition at line 1541 of file Fiducials.cpp.

int Fiducials__points_maximum	(	Fiducials	fiducials,
		CV_Point2D32F_Vector	points,
		unsigned int	start_index,
		unsigned int	end_index
	)

Return the maximum value of the points in *points*.

Parameters:

fiducials	is the Fiducials object that contains the image.
points	is the vector of points to sample.
start_index	is the first index to start with.
end_index	is the last index to end with.

Returns:: the maximum sampled value.

Fiducials__points_maximum*() will sweep from *start_index* to end_index* through *points*. Using each selected point in *points*}, the corresponding value in *image* is sampled. The minimum of the sampled point is returned.

Definition at line 1782 of file Fiducials.cpp.

int Fiducials__points_minimum	(	Fiducials	fiducials,
		CV_Point2D32F_Vector	points,
		unsigned int	start_index,
		unsigned int	end_index
	)

Return the minimum value of the points in *points*.

Parameters:

fiducials	is the Fiducials object that contains the image.
points	is the vector of points to sample.
start_index	is the first index to start with.
end_index	is the last index to end with.

Returns:: the minimum sampled value.

Fiducials__points_minimum*() will sweep from *start_index* to end_index* through *points*. Using each selected point in *points*}, the corresponding value in *image* is sampled. The minimum of the sampled point is returned.

Definition at line 1814 of file Fiducials.cpp.

Fiducials_Results Fiducials__process ( Fiducials fiducials )

Process the current image associated with *fiducials*.

Parameters:

fiducials is the *Fiducials* object to use.

Returns:: a *Fiducials_Results* that contains information about how the processing worked.

Fiducials__process*() will process *fiducials* to determine the robot location.

Definition at line 910 of file Fiducials.cpp.

CV_Point2D32F_Vector Fiducials__references_compute	(	Fiducials	fiducials,
		CV_Point2D32F_Vector	corners
	)

Return 8 sample locations to determine if a quadralateral is worth testing for quadralateral'ness.

Parameters:

fiducials	is the Fiducals object that contains the image.
corners	is the 4 potential fiducial corners.

Returns:: a vector 8 places to test for ficial'ness.

Fiducials__references_compute*() 4 corner points in *corners* to compute 8 reference points that are returned. The first 4 reference points will be just outside of the quadrateral formed by *corners* (i.e. the white bounding box) and the last 4 reference points are on the inside (i.e. the black bounding box). The returned vector is perminately allocated in *fiducials*, so it does not need to have it storage released.

Definition at line 1691 of file Fiducials.cpp.

void Fiducials__sample_points_compute	(	CV_Point2D32F_Vector	corners,
		CV_Point2D32F_Vector	sample_points
	)

Compute the fiducial locations to sample using *corners*.

Parameters:

corners	is the the 4 of the fiducials.
sample_points	is the 64 vector of points that are computed.

Fiducials__sample_points_compute*() will use the 4 corners in corners* as a quadralateral to compute an 8 by 8 grid of tag bit sample points and store the results into the the 64 preallocated *CV_Point2D32F* objects in *sample_points*. The quadralateral must be convex and in the counter-clockwise direction. Bit 0 will be closest to corners[1], bit 7 will be closest to corners[0], bit 56 closest to corners[2] and bit 63 closest to corners[3].

Definition at line 1848 of file Fiducials.cpp.

void Fiducials__sample_points_helper	(	String_Const	label,
		CV_Point2D32F	corner,
		CV_Point2D32F	sample_point
	)

void Fiducials__tag_announce	(	void *	announce_object,
		int	id,
		double	x,
		double	y,
		double	z,
		double	twist,
		double	diagonal,
		double	distance_per_pixel,
		bool	visible,
		int	hop_count
	)

Print out tag update information.

Parameters:

announce_object	is an opaque object from Map->announce_object.
id	is the tag id.
x	is the tag X location.
y	is the tag Y location.
z	is the tag Z location.
twist	is the tag twist in radians.
diagonal	is the tag diagonal distance.
distance_per_pixel	is the distance per pixel.
visible	is (bool)1 if the tag is currently in camera field of view, and (bool)0 otherwise.
hop_count	is the hop count along the spanning tree to the origin.

Fiducials_tag_announce*() is a tag announce routine that can be fed into *Fiducials__create*() as a routine to call each time a tag is updated.

Definition at line 1979 of file Fiducials.cpp.

Fiducials_Create Fiducials_Create__one_and_only ( void )

Returns the one and only *Fiducials_Create* object.

Returns:: the one and only *Fiducials_Create* object.

Fiducials_Create__one_and_only*() will return the one and only Fiducials_Create* object. This object needs to be initalized prior to calling *Fiduciasl__create*().

Definition at line 2011 of file Fiducials.cpp.

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation