Map.cpp File Reference

#include <assert.h>
#include <angles/angles.h>
#include "Arc.hpp"
#include "CV.hpp"
#include "Camera_Tag.hpp"
#include "File.hpp"
#include "Location.hpp"
#include "Map.hpp"
#include "Tag.hpp"

Include dependency graph for Map.cpp:

Go to the source code of this file.

Typedefs
typedef struct Map__Struct *	Map_Doxygen_Fake_Out
	Global map of ceiling fiducial markers.
Functions
void	Map__arc_announce (Map map, Arc *arc, CV_Image image, unsigned int sequence_number)
	Causes an arc announce callback routine to be called.
void	Map__arc_append (Map map, Arc *arc)
	Appends *arc* to *map*.
Arc *	Map__arc_lookup (Map map, Tag *from_tag, Tag *to_tag)
	Returns the *Arc* that contains *from_tag* and *to_tag*.
unsigned int	Map__arc_update (Map map, CameraTag *camera_from, CameraTag *camera_to, CV_Image image, unsigned int sequence_number)
	Makes sure the *Arc* connecting *from* to *to* is up to date.
Map	Map__create (String_Const file_path, String_Const file_base, void *announce_object, Fiducials_Arc_Announce_Routine arc_announce_routine, Fiducials_Tag_Announce_Routine tag_announce_routine, String_Const tag_heights_file_name, String_Const from)
	Returns a new *Map*.
bool	Map__equals (Map map1, Map map2)
	Returns -1, 0, 1 depending upon the sort order of *map1* and *map2*.
void	Map__free (Map map)
	Releases storage associated with *map*.
void	Map__image_log (Map map, CV_Image image, unsigned int sequence_number)
void	Map__restore (Map map, File in_file)
	Restore the contents of *Map* from *in_file*.
void	Map__save (Map map)
	Save *map* out to the file named *file_name*.
void	Map__sort (Map map)
	Sort the contents of *map* to be in a consistent order.
void	Map__svg_write (Map map, String_Const svg_base_name, std::vector< Location * > &locations)
	Writes *map* out to a file called *svg_base_name*.svg.
void	Map__tag_announce (Map map, Tag *tag, bool visible, CV_Image image, unsigned int sequence_number)
	Causes an arc announce callback routine to be called.
TagHeight *	Map__tag_height_lookup (Map map, unsigned int id)
	Returns the distance per pixel for *id*.
void	Map__tag_heights_xml_read (Map map, String_Const tag_heights_file_name)
	Reads the tag heights .xml file.
Tag *	Map__tag_lookup (Map map, unsigned int tag_id)
	Return the *Tag* associated with *tag_id* from *map*.
void	Map__update (Map map, CV_Image image, unsigned int sequence_number)
	Updates the location of each *tag* in *map*.
void	Map__write (Map map, File out_file)
	Writes *map* out to *out_file*.
Variables
static int	last_sequence_number = 0xffffffff
	Log image to disk if image logging is turned on.

---

Typedef Documentation

typedef struct Map__Struct* Map_Doxygen_Fake_Out

Global map of ceiling fiducial markers.

A *Map* consists of a list of *Tag* objects, where each Tag represents the position and orientation of ceiling fiduical markers. Each *Tag* has zero one or more *Neighbor* objects that specify the distance and orientation of *Tag* pairs.

Definition at line 10 of file Map.cpp.

---

Function Documentation

void Map__arc_announce	(	Map	map,
		Arc *	arc,
		CV_Image	image,
		unsigned int	sequence_number
	)

Causes an arc announce callback routine to be called.

Parameters:

map	is the parent *Map* object.
arc	is the *Arc* object that has just been changed.
image	is the image associated with the arc.
sequence_number	is the sequence number associated with announce.

Map__arc_announce*() will cause the arc announde call back routine to be called for *arc*.

Definition at line 34 of file Map.cpp.

void Map__arc_append	(	Map	map,
		Arc *	arc
	)

Appends *arc* to *map*.

Parameters:

map	to append to.
arc	to append

Map__arc_append*() will append *arc* to *map*.

Definition at line 51 of file Map.cpp.

Arc* Map__arc_lookup	(	Map	map,
		Tag *	from_tag,
		Tag *	to_tag
	)

Returns the *Arc* that contains *from_tag* and *to_tag*.

Parameters:

map	that has the *Arc* table.
from_tag	is the from *Tag*.
to_tag	is the to *Tag*.

Returns:

the corresponding *Arc* object.

Map__arc_lookup*() will return the *Arc* that contains *from_tag* and *to_tag*. If no such *Arc* exists yet, it is created.

Definition at line 67 of file Map.cpp.

unsigned int Map__arc_update	(	Map	map,
		CameraTag *	camera_from,
		CameraTag *	camera_to,
		CV_Image	image,
		unsigned int	sequence_number
	)

Makes sure the *Arc* connecting *from* to *to* is up to date.

Parameters:

map	to use for *Arc* updating.
camera_from	is the *Camera_Tag* to for one end of the *Arc*.
camera_to	is the *Camera_Tag* to the other end of the *Arc*.
image	is the image that the *Camera_Tag*'s came from.
sequence_number	is the image sequence number.

Returns:

the number of *Arc*'s updated (1 or 0).

Map__arc_update*() will create or update the *Arc* in *map* associated with *from* and *to*. *image* used to determine the frame size.

Definition at line 99 of file Map.cpp.

Map Map__create	(	String_Const	file_path,
		String_Const	file_base,
		void *	announce_object,
		Fiducials_Arc_Announce_Routine	arc_announce_routine,
		Fiducials_Tag_Announce_Routine	tag_announce_routine,
		String_Const	tag_heights_file_name,
		String_Const	from
	)

Returns a new *Map*.

Parameters:

file_path	is the directory/folder that the map fileis stored in.
file_base	is the base name of the map file.
announce_object	is an opaque object that is passed into announce routines.
arc_announce_routine	is the arc callback routine.
tag_announce_routine	is the tag callback routine.
tag_heights_file_name	is the tag ceiling heights .xml file.
from	is used for memory leak checking.

Returns:

a new *Map*.

Map__create*() creates and returns an empty initialized *Map* object.

Definition at line 276 of file Map.cpp.

bool Map__equals	(	Map	map1,
		Map	map2
	)

Returns -1, 0, 1 depending upon the sort order of *map1* and *map2*.

Parameters:

map1	is the first *Map* to compare.
map2	is the second *Map* to compare.

Returns:

sort order.

Map__compare*() will compare *map1* to *map2* and return -1 if *map1* sorts before *map2*, 0 if they are equal, and -1 if *map1* would sort after *map2*. Realistically, this routine is only used for testing equality.

Definition at line 228 of file Map.cpp.

void Map__free

(

Map

map

)

Releases storage associated with *map*.

Parameters:

map	to release storage for.

Map__free*() will release the storage associaed with *map*.

Definition at line 328 of file Map.cpp.

void Map__image_log	(	Map	map,
		CV_Image	image,
		unsigned int	sequence_number
	)

Definition at line 362 of file Map.cpp.

void Map__restore	(	Map	map,
		File	in_file
	)

Restore the contents of *Map* from *in_file*.

Parameters:

map	is the *Map* to restore into
in_file	is the *File* to read from.

Map__restore*() will read in an XML map file from *in_file* and store it into *map*.

Definition at line 379 of file Map.cpp.

void Map__save

(

Map

map

)

Save *map* out to the file named *file_name*.

Parameters:

map	to save out.

Map__save*() will save *map* to the *file_name* file in XML format.

Definition at line 417 of file Map.cpp.

void Map__sort

(

Map

map

)

Sort the contents of *map* to be in a consistent order.

Parameters:

map	to reorder.

Map__sort*() will reorder all of the tags and neihbgors in *map* to be in a consitent order.

Definition at line 437 of file Map.cpp.

void Map__svg_write	(	Map	map,
		String_Const	svg_base_name,
		std::vector< Location * > &	locations
	)

Writes *map* out to a file called *svg_base_name*.svg.

Parameters:

map	is the *Map* to write out.
svg_base_name	is the base name of the .svg file to write out.
locations	is the list of locations that the robot path took.

Map__svg_write*() will write out *map* out *svg_base_name*.svg.

Definition at line 449 of file Map.cpp.

void Map__tag_announce	(	Map	map,
		Tag *	tag,
		bool	visible,
		CV_Image	image,
		unsigned int	sequence_number
	)

Causes an arc announce callback routine to be called.

Parameters:

map	is the parent *Map* object.
tag	is the *Tag* object that has just been changed.
visible	is True if the tag is in the current field of view.
image	is the current image being processed.
sequence_number	is the sequence number.

Map__arc_announce*() will cause the arc announde call back routine to be called for *arc*.

Definition at line 537 of file Map.cpp.

TagHeight* Map__tag_height_lookup	(	Map	map,
		unsigned int	id
	)

Returns the distance per pixel for *id*.

Parameters:

map	is the *Map* object that contains the distance per pixel table.
id	is the *Tag* identifier to look up.

Returns:

the distance per pixel for *Tag* id.

Map__distance_per_pixel*() will return the distance per pixel for Tag* *id*. The distance can be in any consistent distance (e.g. (millimeters, centimeters, meters, kilometers, inches, feet, miles, light seconds, etc.)

Definition at line 558 of file Map.cpp.

void Map__tag_heights_xml_read	(	Map	map,
		String_Const	tag_heights_file_name
	)

Reads the tag heights .xml file.

Parameters:

map	to to store tag heights into.
tag_heights_file_name	is the file to read from.

Map__tag_heights_xml_read*() will read the *tag_heights_file_name* .xml file and the the tag heights into *map*.

Definition at line 581 of file Map.cpp.

Tag* Map__tag_lookup	(	Map	map,
		unsigned int	tag_id
	)

Return the *Tag* associated with *tag_id* from *map*.

Parameters:

map	to use for lookup.
tag_id	to lookup.

Returns:

*Tag* associated with *tag_id*.

Map__tag_lookup*() will lookup and return the *Tag* associaed with tag_id* using *map. If no previous instance of *tag_id* has been encountered, a new *Tag* is created and add to the association in *map*.

Definition at line 622 of file Map.cpp.

void Map__update	(	Map	map,
		CV_Image	image,
		unsigned int	sequence_number
	)

Updates the location of each *tag* in *map*.

Parameters:

map	to update.
image	is the current image.
sequence_number	is the image sequence number.

Map__update*() will update the location of all the *Tag*'s in *map*.

Definition at line 676 of file Map.cpp.

void Map__write	(	Map	map,
		File	out_file
	)

Writes *map* out to *out_file*.

Parameters:

map	to write out.
out_file	to write to.

Map__write*() will write *map* to *out_file* in XML format.

Definition at line 640 of file Map.cpp.

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Variable Documentation

int last_sequence_number = 0xffffffff [static]

Log image to disk if image logging is turned on.

Parameters:

map	to use.
image	to log.

Map__image_log*() will log *image* to disk if image logging is turned on.

Definition at line 360 of file Map.cpp.