add new repoHEAD master

author: Sven Eisenhauer <sven@sven-eisenhauer.net> 2023-11-10 15:11:48 +0100
committer: Sven Eisenhauer <sven@sven-eisenhauer.net> 2023-11-10 15:11:48 +0100
commit: 33613a85afc4b1481367fbe92a17ee59c240250b (patch)
tree: 670b842326116b376b505ec2263878912fca97e2 /Master/Computer Vision
download: Studium-master.tar.gz
Studium-master.tar.bz2
59 files changed, 12151 insertions, 0 deletions
diff --git a/Master/Computer Vision/2D-_und_3D-BV_kap2_folien.pdf b/Master/Computer Vision/2D-_und_3D-BV_kap2_folien.pdf
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diff --git a/Master/Computer Vision/2D-_und_3D-BV_kap3_folien.pdf b/Master/Computer Vision/2D-_und_3D-BV_kap3_folien.pdf
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diff --git a/Master/Computer Vision/AbschlussBericht/AbschlussBericht.doc b/Master/Computer Vision/AbschlussBericht/AbschlussBericht.doc
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diff --git a/Master/Computer Vision/AbschlussBericht/AbschlussBericht.odt b/Master/Computer Vision/AbschlussBericht/AbschlussBericht.odt
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diff --git a/Master/Computer Vision/AbschlussBericht/AbschlussBericht2.odt b/Master/Computer Vision/AbschlussBericht/AbschlussBericht2.odt
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diff --git a/Master/Computer Vision/AbschlussBericht/inGarageLeft.png b/Master/Computer Vision/AbschlussBericht/inGarageLeft.png
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diff --git a/Master/Computer Vision/AbschlussBericht/inGarageRight.png b/Master/Computer Vision/AbschlussBericht/inGarageRight.png
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diff --git a/Master/Computer Vision/AbschlussBericht/obstacleLeft.png b/Master/Computer Vision/AbschlussBericht/obstacleLeft.png
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diff --git a/Master/Computer Vision/AbschlussBericht/obstacleRight.png b/Master/Computer Vision/AbschlussBericht/obstacleRight.png
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diff --git a/Master/Computer Vision/Comp_Vis_Kap2_folien.pdf b/Master/Computer Vision/Comp_Vis_Kap2_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_Kap3_folien.pdf b/Master/Computer Vision/Comp_Vis_Kap3_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_Kap5_folien.pdf b/Master/Computer Vision/Comp_Vis_Kap5_folien.pdf
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+++ b/Master/Computer Vision/Comp_Vis_Kap5_folien.pdf
diff --git a/Master/Computer Vision/Comp_Vis_Kap6_folien.pdf b/Master/Computer Vision/Comp_Vis_Kap6_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_Kap8_folien.pdf b/Master/Computer Vision/Comp_Vis_Kap8_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_Kap9_folien.pdf b/Master/Computer Vision/Comp_Vis_Kap9_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_Plan_09.pdf b/Master/Computer Vision/Comp_Vis_Plan_09.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_kap1_folien.pdf b/Master/Computer Vision/Comp_Vis_kap1_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_kap4_folien.pdf b/Master/Computer Vision/Comp_Vis_kap4_folien.pdf
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diff --git a/Master/Computer Vision/Comp_Vis_kap7_folien.pdf b/Master/Computer Vision/Comp_Vis_kap7_folien.pdf
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diff --git a/Master/Computer Vision/Inverse_Projection_Bertozzi.pdf b/Master/Computer Vision/Inverse_Projection_Bertozzi.pdf
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diff --git a/Master/Computer Vision/PraktZwBericht1.doc b/Master/Computer Vision/PraktZwBericht1.doc
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index 0000000..9bb2a23
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+++ b/Master/Computer Vision/PraktZwBericht1.doc
diff --git a/Master/Computer Vision/PraktZwBericht1.odt b/Master/Computer Vision/PraktZwBericht1.odt
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diff --git a/Master/Computer Vision/PraktZwBericht1.pdf b/Master/Computer Vision/PraktZwBericht1.pdf
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diff --git a/Master/Computer Vision/Praktikum1/StereoVision.cpp b/Master/Computer Vision/Praktikum1/StereoVision.cpp
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+++ b/Master/Computer Vision/Praktikum1/StereoVision.cpp
@@ -0,0 +1,423 @@
+#include "StereoVision.h"
+#include <cmath>
+
+
+StereoVision::StereoVision(void)
+{
+}
+
+StereoVision::~StereoVision(void)
+{
+}
+std::vector<candidate*> StereoVision::findCorrespPointsPMF(BV::ImageRGB &leftScanline, BV::ImageRGB &rightScanline)
+{
+	std::vector<unsigned> leftEdges;
+	std::vector<unsigned> rightEdges;
+	StereoVision::findEdges(leftScanline,rightScanline,leftEdges,rightEdges);
+	
+	std::list<candidatePair> candidatePairs;
+	std::vector<candidate*> candidates;
+	std::list<candidatePair>::iterator i;
+	double dgThreshold = 1.0;
+
+	// generate all candidates of corresponding points (only x coordinates are relevant)
+	if(leftEdges.size() == 0 || rightEdges.size() == 0) {
+		return candidates;
+	}
+
+	for(size_t lc = 0;lc<leftEdges.size();lc++) {
+		for(size_t rc = 0;rc<rightEdges.size();rc++) {
+			BV::RGBPixel leftImgPx = leftScanline.getPixel(leftEdges[lc],0);
+			BV::RGBPixel rightImgPx = rightScanline.getPixel(rightEdges[rc],0);
+			BV::RGBPixel leftImgPxBefore = leftScanline.getPixel(leftEdges[lc]-1,0);
+			BV::RGBPixel rightImgPxBefore = rightScanline.getPixel(rightEdges[rc]-1,0);
+			BV::RGBPixel leftImgPxAfter = leftScanline.getPixel(leftEdges[lc]+1,0);
+			BV::RGBPixel rightImgPxAfter = rightScanline.getPixel(rightEdges[rc]+1,0);
+
+			if (arePixelSimilar(leftImgPx,rightImgPx) 
+				&& arePixelSimilar(leftImgPxBefore,rightImgPxBefore) && arePixelSimilar(leftImgPxAfter,rightImgPxAfter) )  {
+				candidate* c = new candidate();
+				c->xLeft=leftEdges[lc];
+				c->xRight=rightEdges[rc];
+				c->propapilityCounter = 0.0;
+				c->isAssigned = false;
+				candidates.push_back(c);
+			}
+		}
+	}
+	size_t numCandidates = candidates.size();
+	if(numCandidates == 1) {
+		return candidates;
+	}
+	//long pairCounter = 0;
+	// generate candidate Pairs (each with each)
+	for(std::vector<candidate*>::iterator n=candidates.begin();n!=candidates.end();n++) {
+		for(std::vector<candidate*>::iterator m=n;m!=candidates.end();m++) {
+			double dispDist = std::abs(getDisparityDifference((*n)->xLeft,(*n)->xRight,(*m)->xLeft,(*m)->xRight));
+			// check that candidates are not to far away from each other
+			if( dispDist < DISP_DIST_THRESHOLD) {
+				double dg = getDisparityGradient((*n)->xLeft,(*n)->xRight,(*m)->xLeft,(*m)->xRight);
+				if( (dg != ERROR_DISP_GRADIENT) && (dg <= MAX_DISP_GRADIENT) ) {
+					candidatePair cp;
+					cp.firstCand = *n;
+					cp.secondCand = *m;
+					cp.disparityGradient = dg;
+					cp.isAssigned = false;
+					cp.isDeleted = false;
+					cp.candidateDistance = dispDist;
+					candidatePairs.push_back(cp);
+				}	
+			}
+		}
+	}
+	size_t numCandidatePairs = candidatePairs.size();
+	bool allAssigned = false;
+	long loopCounter = 0;
+	do {
+		// for each candidate set propapilityCounter to 0
+		for(std::vector<candidate*>::iterator n=candidates.begin();n!=candidates.end();n++) {
+			if(!(*n)->isAssigned) {
+				(*n)->propapilityCounter = 0.0;
+			}
+		}
+		// set propapility counters for all unassigned pairs
+		for(i = candidatePairs.begin(); i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				if(i->disparityGradient <= dgThreshold) {
+					// weight with reciprocal of distance
+					i->firstCand->propapilityCounter+=1/(i->candidateDistance);
+					i->secondCand->propapilityCounter+=1/(i->candidateDistance);
+				}
+			}
+		}
+		std::vector<candidatePair*> winnerPairs;
+		double maxPropability = 0;
+		// find first pair, which is not assigned and set this as max propability
+		for(i = candidatePairs.begin(); i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				winnerPairs.push_back(&(*i));
+				maxPropability = i->firstCand->propapilityCounter + i->secondCand->propapilityCounter;
+				break;
+			}
+		}
+		// find the pair with greatest sum of both propability counters
+		for(i = candidatePairs.begin(); i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				double propapility = i->firstCand->propapilityCounter + i->secondCand->propapilityCounter;
+				if (maxPropability < propapility )
+				{
+					winnerPairs.clear();
+					winnerPairs.push_back(&(*i));
+					maxPropability = propapility;
+				} else if(maxPropability == propapility) {
+					winnerPairs.push_back(&(*i));
+				}
+			}
+		}
+		// set each winner pair to state assigned
+		size_t numWinPairs = winnerPairs.size();
+		for(std::vector<candidatePair*>::iterator w = winnerPairs.begin();w!=winnerPairs.end();w++) {
+			(*w)->isAssigned = true;
+			(*w)->firstCand->isAssigned = true;
+			(*w)->secondCand->isAssigned = true;
+		}
+		// delete all candidate pairs, which contain one the candidates of the "winner" candidate pairs
+		for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				for(std::vector<candidatePair*>::iterator w = winnerPairs.begin();w!=winnerPairs.end();w++) {
+					if(! ( (*i) == *(*w) ) ) {
+						if( (*w)->hasCandidate(i->firstCand) || (*w)->hasCandidate(i->secondCand) ) {
+							i->isDeleted = true;
+						}
+					}
+				}
+			}
+		}
+		// check if one more iteration is needed
+		int numOfUnassignedPairs = 0;
+		for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				numOfUnassignedPairs++;
+			}
+		}
+		if(numOfUnassignedPairs == 0) {
+			allAssigned = true;
+		}
+	} while(!allAssigned);
+
+	/* for debugging only
+	for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+		if(i->isAssigned && (!i->firstCand->isAssigned || !i->secondCand->isAssigned)) {
+			int x = 7;
+		}
+	}
+	*/
+	std::vector<candidate*> res;
+	/*
+	for(std::vector<candidate*>::iterator ci = candidates.begin();ci!=candidates.end();ci++) {
+		if((*ci)->isAssigned) {
+			res.push_back(*ci);
+		}
+	}*/
+	for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+		if(i->isAssigned && !i->isDeleted) {
+			bool alreadyInResult = false;
+			for(std::vector<candidate*>::iterator ri = res.begin();ri!=res.end();ri++) {
+				if( (*ri) == i->firstCand ) {
+					alreadyInResult = true;
+					break;
+				}
+			}
+			if(!alreadyInResult) {
+				res.push_back(i->firstCand);
+			}
+			alreadyInResult = false;
+			for(std::vector<candidate*>::iterator ri = res.begin();ri!=res.end();ri++) {
+				if( (*ri) == i->secondCand ) {
+					alreadyInResult = true;
+					break;
+				}
+			}
+			if(!alreadyInResult) {
+				res.push_back(i->secondCand);
+			}
+		}
+	}
+	return res;
+}
+
+std::vector<candidate*> StereoVision::findCorrespPointsPMF(BV::Image &leftScanline, BV::Image &rightScanline)
+{
+	std::vector<unsigned> leftEdges;
+	std::vector<unsigned> rightEdges;
+	StereoVision::findEdges(leftScanline,rightScanline,leftEdges,rightEdges);
+	
+	std::list<candidatePair> candidatePairs;
+	std::vector<candidate*> candidates;
+	std::list<candidatePair>::iterator i;
+	double dgThreshold = 1.0;
+
+	// generate all candidate points (only x coordinates are relevant)
+	for(size_t lc = 0;lc<leftEdges.size();lc++) {
+		for(size_t rc = 0;rc<rightEdges.size();rc++) {
+			if(leftEdges[lc] == 0 || rightEdges[rc] == 0 || leftEdges[lc] == 255 || rightEdges[rc] == 255) {
+				continue;
+			}
+			int leftVal = leftScanline.getPixel(leftEdges[lc],0);
+			int rightVal = rightScanline.getPixel(rightEdges[rc],0);
+			if ( leftVal == rightVal )
+			{
+				candidate* c = new candidate();
+				c->xLeft=leftEdges[lc];
+				c->xRight=rightEdges[rc];
+				c->propapilityCounter = 0.0;
+				c->isAssigned = false;
+				candidates.push_back(c);
+			}
+		}
+	}
+	size_t numCandidates = candidates.size();
+	
+	//long pairCounter = 0;
+	// generate candidate Pairs (each with each)
+	for(std::vector<candidate*>::iterator n=candidates.begin();n!=candidates.end();n++) {
+		for(std::vector<candidate*>::iterator m=n;m!=candidates.end();m++) {
+			double dispDist = std::abs(getCyclopDistanceEpipolar((*n)->xLeft,(*n)->xRight,(*m)->xLeft,(*m)->xRight));
+			// check that candidates are not to far away from each other
+			if( dispDist < DISP_DIST_THRESHOLD) {
+				double dg = getDisparityGradient((*n)->xLeft,(*n)->xRight,(*m)->xLeft,(*m)->xRight);
+				if( (dg != ERROR_DISP_GRADIENT) && (dg < MAX_DISP_GRADIENT) ) {
+					candidatePair cp;
+					cp.firstCand = *n;
+					cp.secondCand = *m;
+					cp.disparityGradient = dg;
+					cp.isAssigned = false;
+					cp.isDeleted = false;
+					cp.candidateDistance = dispDist;
+					candidatePairs.push_back(cp);
+				} else {
+					continue;
+				}		
+			}
+		}
+	}
+	size_t numCandidatePairs = candidatePairs.size();
+	bool allAssigned = false;
+	long loopCounter = 0;
+	do {
+		// for each candidate set propapilityCounter to 0
+		for(std::vector<candidate*>::iterator n=candidates.begin();n!=candidates.end();n++) {
+			if(!(*n)->isAssigned) {
+				(*n)->propapilityCounter = 0.0;
+			}
+		}
+		// set propapility counters for all unassigned pairs
+		for(i = candidatePairs.begin(); i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				if(i->disparityGradient < dgThreshold) {
+					// weight with reciprocal of distance
+					i->firstCand->propapilityCounter+=1.0;
+					i->secondCand->propapilityCounter+=1.0;
+				}
+				break;
+			}
+		}
+		std::vector<candidatePair*> winnerPairs;
+		double maxPropability = 0;
+		// find first pair, which is not assigned and set this as max propability
+		for(i = candidatePairs.begin(); i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				winnerPairs.push_back(&(*i));
+				// weight with reciprocal of distance
+				maxPropability = (i->firstCand->propapilityCounter + i->secondCand->propapilityCounter) / (100*i->candidateDistance);
+				break;
+			}
+		}
+		// find the pair with greatest sum of both propability counters
+		for(i = candidatePairs.begin(); i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				// weight with reciprocal of distance
+				double propapility = (i->firstCand->propapilityCounter + i->secondCand->propapilityCounter) / (100*i->candidateDistance);
+				if (maxPropability < propapility )
+				{
+					winnerPairs.clear();
+					winnerPairs.push_back(&(*i));
+					maxPropability = propapility;
+				} else if(maxPropability == propapility) {
+					winnerPairs.push_back(&(*i));
+				}
+			}
+		}
+		// set each winner pair to state assigned
+		size_t numWinPairs = winnerPairs.size();
+		for(std::vector<candidatePair*>::iterator w = winnerPairs.begin();w!=winnerPairs.end();w++) {
+			(*w)->isAssigned = true;
+			(*w)->firstCand->isAssigned = true;
+			(*w)->secondCand->isAssigned = true;
+		}
+		// delete all candidate pairs, which contain one the candidates of the "winner" candidate pairs
+		for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				for(std::vector<candidatePair*>::iterator w = winnerPairs.begin();w!=winnerPairs.end();w++) {
+					if(! ( (*i) == *(*w) ) ) {
+						if( (*w)->hasCandidate(i->firstCand) || (*w)->hasCandidate(i->secondCand) ) {
+							i->isDeleted = true;
+						}
+					}
+				}
+			}
+		}
+		// check if one more iteration is needed
+		int numOfUnassignedPairs = 0;
+		for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+			if(!i->isAssigned && !i->isDeleted) {
+				numOfUnassignedPairs++;
+			}
+		}
+		if(numOfUnassignedPairs == 0) {
+			allAssigned = true;
+		}
+	} while(!allAssigned);
+
+	/* for debugging only
+	for(i=candidatePairs.begin();i!=candidatePairs.end();i++) {
+		if(i->isAssigned && (!i->firstCand->isAssigned || !i->secondCand->isAssigned)) {
+			int x = 7;
+		}
+	}
+	*/
+	std::vector<candidate*> res;
+
+	for(std::vector<candidate*>::iterator ci = candidates.begin();ci!=candidates.end();ci++) {
+		if((*ci)->isAssigned) {
+			res.push_back(*ci);
+		}
+	}
+	return res;
+}
+
+void StereoVision::findEdges(BV::ImageRGB &scanlineLeft, BV::ImageRGB &scanlineRight, std::vector<unsigned> &leftEdges, std::vector<unsigned>&rightEdges)
+{
+	unsigned width = scanlineLeft.getWidth();;
+	unsigned height = 0;
+	BV::RGBPixel prevLeftPixel = scanlineLeft.getPixel(0,height);
+	BV::RGBPixel prevRightPixel = scanlineRight.getPixel(0,height);
+	BV::RGBPixel actPixel;
+	for(unsigned i=1;i<width-1;i++) {
+		actPixel = scanlineLeft.getPixel(i,height);
+		if( !arePixelSimilar(prevLeftPixel,actPixel) ) 
+		{
+			leftEdges.push_back(i);
+		}
+		prevLeftPixel = actPixel;
+
+		actPixel = scanlineRight.getPixel(i,height);
+		if( !arePixelSimilar(prevRightPixel,actPixel) ) 
+		{
+			rightEdges.push_back(i);
+		}
+		prevRightPixel = actPixel;
+	}
+}
+
+void StereoVision::findEdges(BV::Image &scanlineLeft, BV::Image &scanlineRight, std::vector<unsigned> &leftEdges, std::vector<unsigned>&rightEdges)
+{
+	unsigned width = scanlineLeft.getWidth();;
+	unsigned height = 0;
+	int prevLeftPixel = scanlineLeft.getPixel(0,height);
+	int prevRightPixel = scanlineRight.getPixel(0,height);
+	int actPixel;
+	int sky = 0;
+	for(unsigned i=1;i<width;i++) {
+		actPixel = scanlineLeft.getPixel(i,height);
+		if( prevLeftPixel != actPixel ) 
+		{
+			if(prevLeftPixel == sky) {
+				leftEdges.push_back(i);
+			} else {
+				leftEdges.push_back(i-1);
+			}
+		}
+		prevLeftPixel = actPixel;
+
+		actPixel = scanlineRight.getPixel(i,height);
+		if( prevRightPixel != actPixel) 
+		{
+			if(prevRightPixel == sky) {
+				rightEdges.push_back(i);
+			} else {
+				rightEdges.push_back(i-1);
+			}
+		}
+		prevRightPixel = actPixel;
+	}
+}
+
+
+double StereoVision::getCyclopDistanceEpipolar(const unsigned int &xAl, const unsigned int &xAr,const unsigned&xBl,const unsigned&xBr)
+{
+	long leftDisparity = xAl - xBl;
+	long rightDisparity = xAr - xBr;
+	return 0.5*(leftDisparity+rightDisparity);
+}
+long StereoVision::getDisparityDifference(const unsigned int &xAl, const unsigned int &xAr,const unsigned&xBl,const unsigned&xBr)
+{
+	long leftDisparity = xAl - xAr;
+	long rightDisparity = xBl - xBr;
+	return std::abs(rightDisparity-leftDisparity);
+}
+double StereoVision::getDisparityGradient(const unsigned int &xAl, const unsigned int &xAr,const unsigned&xBl,const unsigned&xBr)
+{
+	double cyclopDist = getCyclopDistanceEpipolar(xAl,xAr,xBl,xBr);
+	if(cyclopDist != 0.0) {
+		return (getDisparityDifference(xAl,xAr,xBl,xBr)/ std::abs(cyclopDist) );
+	} else {
+		return ERROR_DISP_GRADIENT;
+	}
+	
+}
+bool StereoVision::arePixelSimilar(const BV::RGBPixel& left,const BV::RGBPixel& right) {
+	bool res;
+	res = (MAX_COLOR_DIFF >= std::abs(left.getRed() - right.getRed())) && (MAX_COLOR_DIFF >= std::abs(left.getGreen() - right.getGreen())) && (MAX_COLOR_DIFF >= std::abs(left.getBlue() - right.getBlue()));
+	return res;
+}
+\ No newline at end of file
diff --git a/Master/Computer Vision/Praktikum1/StereoVision.h b/Master/Computer Vision/Praktikum1/StereoVision.h
new file mode 100644
index 0000000..1ccb96a
--- /dev/null
+++ b/Master/Computer Vision/Praktikum1/StereoVision.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <vector>
+#include "abstring.h"
+#include "bvimagergb.h"
+#include "bvrgbpixel.h"
+#include "bvfilters.h"
+#include "vraibolabmodule.h"
+
+#define DISP_DIST_THRESHOLD 20
+#define MAX_DISP_GRADIENT 1.0
+#define ERROR_DISP_GRADIENT 1000.0
+#define MAX_COLOR_DIFF 5
+#define MAX_LUM_DIFF 10.0
+
+struct candidate  {
+	unsigned xLeft;
+	unsigned xRight;
+	double propapilityCounter;
+	bool isAssigned;
+	bool operator== (const candidate& other) const {
+		return (xLeft == other.xLeft && xRight == other.xRight);
+	}
+	bool operator== (const candidate* other) const {
+		return (xLeft == other->xLeft && xRight == other->xRight);
+	}
+};
+
+struct candidatePair {
+	candidate* firstCand;
+	candidate* secondCand;
+	double disparityGradient;
+	bool isAssigned;
+	bool isDeleted;
+	//long pairNum;
+	double candidateDistance;
+	bool operator== (const candidatePair& other) const {
+		return ( (firstCand == other.firstCand) && (secondCand == other.secondCand) );
+	}
+    bool hasCandidate(const candidate& other) const {
+		return (*firstCand == other) || (*secondCand == other);
+	}
+    bool hasCandidate(const candidate* other) const {
+		return (*firstCand == *other) || (*secondCand == *other);
+	}
+	candidatePair() {}
+	candidatePair(const candidatePair& other) {
+		firstCand = other.firstCand;
+		secondCand = other.secondCand;
+		disparityGradient = other.disparityGradient;
+		isAssigned = other.isAssigned;
+		isDeleted = other.isDeleted;
+		//pairNum = other.pairNum;
+		candidateDistance = other.candidateDistance;
+	}
+};
+
+class StereoVision
+{
+public:
+	StereoVision(void);
+	~StereoVision(void);
+	static std::vector<candidate*> findCorrespPointsPMF(BV::ImageRGB&,BV::ImageRGB&);
+	static std::vector<candidate*> findCorrespPointsPMF(BV::Image&,BV::Image&);
+	static long getDisparityDifference(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
+private:
+	static void findEdges(BV::ImageRGB&,BV::ImageRGB&,std::vector<unsigned>&,std::vector<unsigned>&);
+	static void findEdges(BV::Image&,BV::Image&,std::vector<unsigned>&,std::vector<unsigned>&);
+	static double getCyclopDistanceEpipolar(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
+	static double getDisparityGradient(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
+	static bool arePixelSimilar(const BV::RGBPixel&,const BV::RGBPixel&);
+};
diff --git a/Master/Computer Vision/Praktikum1/frame.cpp b/Master/Computer Vision/Praktikum1/frame.cpp
new file mode 100644
index 0000000..95f88cb
--- /dev/null
+++ b/Master/Computer Vision/Praktikum1/frame.cpp
@@ -0,0 +1,409 @@
+#include "frame.h"
+#include "parameterset.h"
+#include "utilimagergba.h"
+#include "utiltimeprobe.h"
+#include "vraibolabmodule.h"
+#include "StereoVision.h"
+#include <limits>
+
+#define LINE_LUMINANCE 198.0
+#define EYEDISTANCE 0.5
+#define EPIPOLAR_SCANLINE 128
+#define MIN_OBSTACLE_DIST 3.0
+
+AbImageComponent* leftGrayImageComponent = NULL;
+AbImageComponent* rightGrayImageComponent = NULL;
+AbWindow* leftGrayImgWin = NULL;
+AbWindow* rightGrayImgWin = NULL;
+
+bool doStop = false;
+
+// Register this command in the module factory, don't change this!
+bool Frame::m_registered = VRAIBOLabModule::getFactory()->registerPrimaryCommand(&create);
+
+// Constructor of this command.
+// The first parameter is the used CommandDescriptor, which will identify this Command.
+// The second parameter is the used CommandGUIDescriptor, which will specify the menue and the
+// displayed text. (for more information see WISP-Docu: CommandDescriptor, CommandGUIDescriptor)
+Frame::Frame():Command(new Main::CommandDescriptor("show the parcour-OpenGLscene","vrAiboFrame"),
+                       new Main::CommandGUIDescriptor(Main::CommandGUIDescriptor::ON_MENU,"VRAIBO Frame", "Show Scene Parcour"))
+{
+    // Illustrator is used to show the OPENGL scene
+    mp_Illustrator = NULL;
+   
+    // CloseObserver is used to shut down the Lab frame
+    mp_CloseObserver = NULL;
+
+    //UpdateObserver is used to observe the VRAIBO, to receive synchronized repaints
+    mp_UpdateObserver = NULL;
+
+}
+
+// Destructor of the class
+Frame::~Frame()
+{
+
+}
+
+// This method will be executed if the Command was called from the WISP console or WISP GUI.
+void Frame::execute()
+{
+
+    // if you want to use input parameters, you can do it like the following lines
+    // e.g to get the height and width for the used picture
+    // (for more information see WISP-Docu: Command, AbstractParameter)
+
+    /*Main::Parameter<int> input1;
+    Main::Parameter<int> input2;
+    if(!mp_Selected->getParameterList()->empty())
+    {
+        //solver solves casting problems
+        if(!m_Solver.solve(&input1,mp_Selected->getParameterList()->front()))
+        {
+            Main::Overseer::getInstance()->getOutputConsole()->appendText("Parameter failure");
+            return;
+        }
+
+        if(!m_Solver.solve(&input2,mp_Selected->getParameterList()->at(1)))
+        {
+            Main::Overseer::getInstance()->getOutputConsole()->appendText("Parameter failure");
+            return;
+        }
+        int height = *input1.getValue();
+        int width = *input2.getValue();
+    }*/
+
+    // The VRAibo class is the central interface to the virtual AIBO (neccessary to let the VRAIBO walk for example)
+    // (for more information see WISP-Docu: VRAibo)
+    VRAIBO::VRAibo* vraibo = VRAIBO::VRAibo::getInstance();
+
+    if(vraibo->isRunning())
+    {
+        // Example to use the console for outputs with a linebreak "\n".
+        // alternative, you can use Main::Overseer::getInstance()->getOutputConsole()->appendText("");
+        _Console()->appendText("already running \n");
+        return;
+    }
+    // Illustrator is used to show the OPENGL scene for example the Parcourillustrator or Parcelillustrator
+    //mp_Illustrator = new ParcelIllustrator();
+    mp_Illustrator = new ParcourIllustrator(); //->alternative illustrator
+
+    // activate the viewing of the opengl scenes ( four different camera positions )
+    // params are the used illustrator, height, width, eye distance to center of head
+    // (half distance between both eyes), start PositonX, startPositionY
+    // (for more information see WISP-Docu: VRAibo)
+    //vraibo->showViews(mp_Illustrator,256,256,0.5,-30,-55);
+    vraibo->showViews(mp_Illustrator,256,256,EYEDISTANCE,-30,-55);
+
+
+    mp_CloseObserver = new Frame::MyCloseObserver(this);
+    mp_UpdateObserver = new Frame::MyUpdateObserver(this,256,256);
+
+    //add observers to VRAIBO
+    vraibo->addCloseObserver(mp_CloseObserver);
+    vraibo->addUpdateObserver(mp_UpdateObserver);
+
+    _Console()->appendText("ready\n");
+
+    // Inform module about it's use (ensure correct unloading of the module) 
+    VRAIBOLabModule::setUsed(true);
+}
+
+// Creation method for this Command
+Main::Command* Frame::create()
+{
+    return new Frame();
+}
+
+
+// Constructor of MyCloseObserver
+Frame::MyCloseObserver::MyCloseObserver(Frame* scenes)
+:mp_Frame(scenes)
+{
+
+}
+
+// this method is used to shut down the Lab frame
+void Frame::MyCloseObserver::update()
+{
+   
+    VRAIBO::VRAibo::getInstance()->removeUpdateObserver(mp_Frame->mp_UpdateObserver);
+    VRAIBO::VRAibo::getInstance()->removeCloseObserver(this);
+    VRAIBOLabModule::setUsed(false);
+    if(VRAIBOLabModule::getFactory()->getModule() !=NULL )
+    {
+        delete mp_Frame->mp_Illustrator;
+        delete mp_Frame->mp_UpdateObserver;
+    }
+    delete this;
+}
+
+// Constructor of MyUpdateObserver
+Frame::MyUpdateObserver::MyUpdateObserver(Frame* scenes,int imageWidth,int imageHeight)
+:mp_Frame(scenes)
+{
+    // Get a workspacewindow from the Overseer to put elements on it, like pictures, buttons, labels etc..
+     // (for more information see Ab-Docu: AbWindow, WISP-Docu: Overseer)
+    mp_LeftWindow = Main::Overseer::getInstance()->getWorkspaceWindow("left image");
+    // Create an imageComponent, which can show a picture
+    // (for more information see Ab-Docu: AbImageComponent)
+    mp_LeftImage = new AbImageComponent();
+    // Set the layout for the window (usefull to arrange components)
+    // (for more information see Ab-Docu: AbBorderLayout)
+    mp_LeftWindow->setLayoutManager(new AbBorderLayout());
+    // Add the imageComponent to the window
+    mp_LeftWindow->add(mp_LeftImage);
+    // Set the dimensio of the window
+    AbDimension dim(0,0,imageWidth,imageHeight);
+    mp_LeftWindow->setDimension(dim);
+    // disable resizing of the window
+    mp_LeftWindow->setResizeable(false);
+    // Show the window
+    mp_LeftWindow->show();
+
+
+    mp_RightWindow = Main::Overseer::getInstance()->getWorkspaceWindow("right image");
+    mp_RightImage = new AbImageComponent();
+    mp_RightWindow->setLayoutManager(new AbBorderLayout());
+    mp_RightWindow->add(mp_RightImage);
+    mp_RightWindow->setResizeable(false);
+    mp_RightWindow->setDimension(dim);
+    mp_RightWindow->show();
+
+    leftGrayImgWin = Main::Overseer::getInstance()->getWorkspaceWindow("left gray image");
+    leftGrayImageComponent = new AbImageComponent();
+    leftGrayImgWin->setLayoutManager(new AbBorderLayout());
+    leftGrayImgWin->add(leftGrayImageComponent);
+    leftGrayImgWin->setResizeable(false);
+    leftGrayImgWin->setDimension(dim);
+    leftGrayImgWin->show();
+
+    rightGrayImgWin = Main::Overseer::getInstance()->getWorkspaceWindow("right gray image");
+    rightGrayImageComponent = new AbImageComponent();
+    rightGrayImgWin->setLayoutManager(new AbBorderLayout());
+    rightGrayImgWin->add(rightGrayImageComponent);
+    rightGrayImgWin->setResizeable(false);
+    rightGrayImgWin->setDimension(dim);
+    rightGrayImgWin->show();
+
+    // The VRAibo class is the central interface to the virtual AIBO (neccessary to let the VRAIBO walk for example)
+    // (for more information see WISP-Docu: VRAibo)
+    mp_VRAibo = VRAIBO::VRAibo::getInstance();
+}
+
+// destructor of MyUpdateObserver
+Frame::MyUpdateObserver::~MyUpdateObserver()
+{
+    //close all own windows
+    AbMemoryManaged::destroy(mp_LeftWindow);
+    AbMemoryManaged::destroy(mp_RightWindow);
+	AbMemoryManaged::destroy(leftGrayImgWin);
+    AbMemoryManaged::destroy(rightGrayImgWin);
+}
+
+
+// This method will return true, if a point of interest has been found.
+// image Left/Right is the picture of the actual position of VRAIBO. You can use this to analyse
+// your situation with different image algorithms or something else.
+// linePos is the Pixel, which will be used to calculate the next angle of rotation
+// (e.g. the center of the line, which you want to follow).
+bool Frame::MyUpdateObserver::evaluate(BV::ImageRGB& imageLeft,BV::ImageRGB& imageRight, double& linePos)
+{   
+	unsigned width = imageLeft.getWidth();
+	unsigned height = imageLeft.getHeight();
+	std::vector<candidate*> correspPoints;
+	BV::ImageRGB leftScanLine(width,1);
+	BV::ImageRGB rightScanLine(width,1);
+	for(unsigned x=0;x<256;x++) {
+		leftScanLine.setPixel(x,0,imageLeft.getPixel(x,EPIPOLAR_SCANLINE));
+		rightScanLine.setPixel(x,0,imageRight.getPixel(x,EPIPOLAR_SCANLINE));
+	}
+	std::vector<BV::RGBPixel> palette;
+	BV::RGBPixel red(255,0,0); palette.push_back(red);
+	BV::RGBPixel green(0,255,0); palette.push_back(green);
+	BV::RGBPixel blue(0,0,255); palette.push_back(blue);
+	BV::RGBPixel yellow(255,255,0); palette.push_back(yellow);
+	BV::RGBPixel magenta(255,0,255); palette.push_back(magenta);
+	BV::RGBPixel cyan(0,255,255); palette.push_back(cyan);
+	BV::RGBPixel white(255,255,255); palette.push_back(white);
+	BV::RGBPixel black(0,0,0); palette.push_back(black);
+	BV::RGBPixel gray(128,128,128); palette.push_back(gray);
+	BV::ImageRGB leftImg(imageLeft);
+	BV::ImageRGB rightImg(imageRight);
+	leftImg.drawLine(BV::Point(0,EPIPOLAR_SCANLINE),BV::Point(width-1,EPIPOLAR_SCANLINE),white);
+	rightImg.drawLine(BV::Point(0,EPIPOLAR_SCANLINE),BV::Point(width-1,EPIPOLAR_SCANLINE),white);
+	
+	correspPoints = StereoVision::findCorrespPointsPMF(leftScanLine,rightScanLine);
+	double focalLength = (width/2)/std::tan(((mp_VRAibo->getFovy()*PI)/180)/2);
+	unsigned n = 0;
+	for(std::vector<candidate*>::iterator i = correspPoints.begin();i!=correspPoints.end();i++) {
+		n++;
+		leftImg.drawCircle(BV::Point((*i)->xLeft,EPIPOLAR_SCANLINE),8,palette[n]);
+		rightImg.drawCircle(BV::Point((*i)->xRight,EPIPOLAR_SCANLINE),8,palette[n]);
+
+		double dispL = (*i)->xLeft+EYEDISTANCE;
+		double dispR = (*i)->xRight-EYEDISTANCE;
+
+		Util::Point3d realWorldPoint;
+		// X
+		realWorldPoint.m_Elements[0] = (-EYEDISTANCE*(dispR+dispL))/(dispR-dispL);
+		// Y
+		realWorldPoint.m_Elements[1] = 0;
+		// Z
+		realWorldPoint.m_Elements[2] = std::abs((2*EYEDISTANCE*focalLength)/(dispR-dispL));
+		_Console()->appendText(AbString::format("\nReal world Point P[%f , %f , %f]",realWorldPoint.m_Elements[0],realWorldPoint.m_Elements[1],realWorldPoint.m_Elements[2]));
+		if(realWorldPoint.m_Elements[2] <= MIN_OBSTACLE_DIST) {
+			leftImg.drawText("X",BV::Point((*i)->xLeft-8,EPIPOLAR_SCANLINE-8),palette[n]);
+			rightImg.drawText("X",BV::Point((*i)->xRight-8,EPIPOLAR_SCANLINE-8),palette[n]);
+			doStop = true;
+		}
+	}
+	//_Console()->appendText(AbString::format("\nFound %d corresponding edge point in scanline",correspPoints.size()));
+	leftGrayImageComponent->setNewImage(leftImg.getBufferPointer(),leftImg.getWidth(),leftImg.getHeight());
+	rightGrayImageComponent->setNewImage(rightImg.getBufferPointer(),rightImg.getWidth(),rightImg.getHeight());	
+	
+	/*
+	BV::ImageRGB farbbildHSV; 
+    BV::Filter2D::ColorSpaceTransformationFilters::filterConvertRGB2HSV(imageLeft, farbbildHSV);
+	BV::Image helligkeitbild;
+	BV::Filter2D::ImageFeatureExtractionFilters::filterExtractComponent(farbbildHSV, helligkeitbild, 2);
+	int h =  (int) (height * 0.75);
+	BV::RGBPixel test;
+	bool begin = true;
+	unsigned start = 0;
+	unsigned end = 0;
+	double linePosRight = -1.0;
+	double linePosLeft = -1.0;
+	double lum = -1.0;
+	for(unsigned x = 0; x < width; x++)
+	{
+		//TB: only for debug issues, the function call could be direct in the if below
+		test = helligkeitbild.getPixel(x,h);
+		//TB: get the right side of the red line
+		lum = test.getLuminance();
+		if( (2.0 >= std::abs(lum - LINE_LUMINANCE))&& begin == true)
+		{
+			start = x;
+			begin = false;
+		}
+		//TB: get the left side if the red line
+		else if( ( 2.0 < std::abs(lum - LINE_LUMINANCE) || x == width-1) && begin == false)
+		{
+			//TB: calc the middle of the red line and return this point
+			end = x-1;
+			//linePos = (start + end)*0.5;
+			//linePos = start + ((end - start)*0.5);
+			linePosLeft = start + ((end - start)*0.5);
+		}
+		
+	}
+	BV::Filter2D::ColorSpaceTransformationFilters::filterConvertRGB2HSV(imageRight, farbbildHSV);
+	BV::Filter2D::ImageFeatureExtractionFilters::filterExtractComponent(farbbildHSV, helligkeitbild, 2);
+	begin = true;
+	for(unsigned x = 0; x < width; x++)
+	{
+		//TB: only for debug issues, the function call could be direct in the if below
+		test = helligkeitbild.getPixel(x,h);
+		//TB: get the right side of the red line
+		lum = test.getLuminance();
+		if( (2.0 >= std::abs(lum - LINE_LUMINANCE) )&& begin == true)
+		{
+			start = x;
+			begin = false;
+		}
+		//TB: get the left side if the red line
+		else if( ( 2.0 < std::abs(lum - LINE_LUMINANCE) || x == width-1) && begin == false)
+		{
+			//TB: calc the middle of the red line and return this point
+			end = x-1;
+			//linePos = (start + end)*0.5;
+			//linePos = start + ((end - start)*0.5);
+			linePosRight = start + ((end - start)*0.5);
+		}
+		
+	}
+	if( (linePosLeft == -1.0) || (linePosRight == -1.0) ) {
+		return false;
+	} else {
+		// cyclop view...
+		linePos = (linePosLeft+linePosRight)/2;
+		return true;
+	}
+	*/
+    return false;
+}
+
+
+// This method will be invoked if the VRAIBO has synchronized all views again
+void Frame::MyUpdateObserver::update()
+{
+
+    // Get a rgb-images of VRAIBO's camera
+    unsigned char* tempLeft = mp_VRAibo->getLeftImage();
+    unsigned char* tempRight = mp_VRAibo->getRightImage();
+   
+    if(tempLeft == NULL || tempRight == NULL)
+    {
+        return;
+    }
+
+    // Set image for the imageComponents, which shows the Images
+    if(mp_LeftWindow != NULL)
+    {
+        mp_LeftImage->setNewImage(tempLeft, mp_VRAibo->getPictureWidth(), mp_VRAibo->getPictureHeight(), Ab::RGB24);
+    }
+
+    if(mp_RightWindow != NULL)
+    {
+        mp_RightImage->setNewImage(tempRight, mp_VRAibo->getPictureWidth(), mp_VRAibo->getPictureHeight(), Ab::RGB24);
+    }
+
+   
+    // Create a ImageRGBs for image processing and set buffer pointer for bvImages
+    BV::ImageRGB imageLeft;
+    imageLeft.setBufferPointer(mp_VRAibo->getPictureWidth(),mp_VRAibo->getPictureHeight(),tempLeft);
+   
+    BV::ImageRGB imageRight;
+    imageRight.setBufferPointer(mp_VRAibo->getPictureWidth(),mp_VRAibo->getPictureHeight(),tempRight);
+
+    // Set the evaluation return value "linePos" to a default value
+    double linePos = 0;
+    // Set the angle of rotation for AIBO to a default value
+    double walkAngle = 0;
+
+
+    if (evaluate(imageLeft,imageRight,linePos))//pos found
+    {
+        // Point of interest has been found
+        //TB: calc the angle for the rotation of the robo (see worksheet)
+        walkAngle = (mp_VRAibo->getFovy()/mp_VRAibo->getPictureWidth())*-(linePos-imageLeft.getWidth()*0.5);
+        // This is a example for a console output in which a variable
+        // and a string will be written to the console
+        // AbString::format() is used like printf()
+        // (for more information see Ab-Docu: AbString)
+        _Console()->appendText(AbString::format("aktuelle Linienposition: %f\n", linePos));
+        _Console()->appendText(AbString::format("aktueller Walkangle: %d\n", walkAngle));
+
+        //let the VRAIBO turn "walkAngle" degrees
+        mp_VRAibo->turn(walkAngle);
+        //let the VRAIBO walk 0.5
+        mp_VRAibo->walk(0.5);
+       
+    }
+    else
+    {
+        //TB: if no line was found walk forward...
+		if(!doStop) {
+			mp_VRAibo->walk(0.5);
+		} else {
+			_Console()->appendText("\nObstacle in front detected");
+			doStop = false;
+		}
+		
+        // Point of interest has not been found
+        // Search for point of interest
+        _Console()->appendText("\nNo Lineposition found");
+    }
+}
+
+
diff --git a/Master/Computer Vision/Seminarvortrag/A038.ps b/Master/Computer Vision/Seminarvortrag/A038.ps
new file mode 100644
index 0000000..be0d783
--- /dev/null
+++ b/Master/Computer Vision/Seminarvortrag/A038.ps
@@ -0,0 +1,10907 @@
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+/Times-Roman ff 180.00 scf sf
+6211 181 m
+gs 1 -1 sc (\\tex{Wasserscheiden}) col0 sh gr
+/Times-Roman ff 180.00 scf sf
+5438 226 m
+gs 1 -1 sc (\\tex{$z$}) col0 sh gr
+% Polyline
+%
+% Begin Imported GIF File: d06.gif
+n gs
+60 46 tr
+10.976905 -10.971751 sc
+0 -354 tr
+0 0 tr
+sa
+/showpage {} def
+% GIF image follows:
+433 354 sc
+%***********************************************************************
+%*                                                                     *
+%* Object: Image decoding PS-routine                    Date: 01.02.93 *
+%* Author: Evgeni CHERNYAEV (chernaev@vxcern.cern.ch)                  *
+%*                                                                     *
+%* Function: Display a run-length encoded color image.                 *
+%*           The image is displayed in color on viewers and printers   *
+%*           that support color Postscript, otherwise it is displayed  *
+%*           as grayscale.                                             *
+%*                                                                     *
+%***********************************************************************
+/byte 1 string def
+/color 3 string def
+systemdict /colorimage known { /cnt 3 def } { /cnt 1 def } ifelse
+/String 256 cnt mul string def
+%***********************************************************************
+/DecodePacket            % Decode color packet                         *
+%***********************************************************************
+{
+  currentfile byte readhexstring pop 0 get
+  /Nbyte exch 1 add cnt mul def
+  /color ColorMap currentfile byte readhexstring pop 0 get get def
+  String dup
+  0 cnt Nbyte 1 sub { color putinterval dup } for
+  pop 0 Nbyte getinterval
+} bind def
+%***********************************************************************
+/DisplayImage            % Display run-length encoded color image      *
+%***********************************************************************
+{
+  gsave
+  currentfile String readline pop
+  token { /columns exch def } { } ifelse
+  token { /rows exch def pop } { } ifelse
+  currentfile String readline pop
+  token { /Ncol exch def pop } { } ifelse
+  /ColorMap Ncol array def
+  systemdict /colorimage known {
+    0 1 Ncol 1 sub {
+      ColorMap exch
+      currentfile 3 string readhexstring pop put
+    } for
+    columns rows 8
+    [ columns 0 0 rows neg 0 rows ]
+    { DecodePacket } false 3 colorimage
+  }{
+    0 1 Ncol 1 sub {
+      ColorMap exch
+      1 string dup 0
+      currentfile color readhexstring pop pop
+      color 0 get 0.299 mul
+      color 1 get 0.587 mul add
+      color 2 get 0.114 mul add
+      cvi put put
+    } for
+    columns rows 8
+    [ columns 0 0 rows neg 0 rows ]
+    { DecodePacket } image
+  } ifelse
+  grestore
+} bind def
+%***********************************************************************
+%*                          Image decoding                             *
+%***********************************************************************
+DisplayImage
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+%%EndDocument
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+%***********************************************************************
+%*                                                                     *
+%* Object: Image decoding PS-routine                    Date: 01.02.93 *
+%* Author: Evgeni CHERNYAEV (chernaev@vxcern.cern.ch)                  *
+%*                                                                     *
+%* Function: Display a run-length encoded color image.                 *
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+%*                                                                     *
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+%***********************************************************************
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+0036003502320031
+restore grestore
+%
+% End Imported PIC File: result.gif
+%
+% Polyline
+%
+% Begin Imported GIF File: wrong.gif
+n gs
+8110 441 tr
+21.790780 -31.559140 sc
+0 -93 tr
+0 0 tr
+sa
+/showpage {} def
+% GIF image follows:
+282 93 sc
+%***********************************************************************
+%*                                                                     *
+%* Object: Image decoding PS-routine                    Date: 01.02.93 *
+%* Author: Evgeni CHERNYAEV (chernaev@vxcern.cern.ch)                  *
+%*                                                                     *
+%* Function: Display a run-length encoded color image.                 *
+%*           The image is displayed in color on viewers and printers   *
+%*           that support color Postscript, otherwise it is displayed  *
+%*           as grayscale.                                             *
+%*                                                                     *
+%***********************************************************************
+/byte 1 string def
+/color 3 string def
+systemdict /colorimage known { /cnt 3 def } { /cnt 1 def } ifelse
+/String 256 cnt mul string def
+%***********************************************************************
+/DecodePacket            % Decode color packet                         *
+%***********************************************************************
+{
+  currentfile byte readhexstring pop 0 get
+  /Nbyte exch 1 add cnt mul def
+  /color ColorMap currentfile byte readhexstring pop 0 get get def
+  String dup
+  0 cnt Nbyte 1 sub { color putinterval dup } for
+  pop 0 Nbyte getinterval
+} bind def
+%***********************************************************************
+/DisplayImage            % Display run-length encoded color image      *
+%***********************************************************************
+{
+  gsave
+  currentfile String readline pop
+  token { /columns exch def } { } ifelse
+  token { /rows exch def pop } { } ifelse
+  currentfile String readline pop
+  token { /Ncol exch def pop } { } ifelse
+  /ColorMap Ncol array def
+  systemdict /colorimage known {
+    0 1 Ncol 1 sub {
+      ColorMap exch
+      currentfile 3 string readhexstring pop put
+    } for
+    columns rows 8
+    [ columns 0 0 rows neg 0 rows ]
+    { DecodePacket } false 3 colorimage
+  }{
+    0 1 Ncol 1 sub {
+      ColorMap exch
+      1 string dup 0
+      currentfile color readhexstring pop pop
+      color 0 get 0.299 mul
+      color 1 get 0.587 mul add
+      color 2 get 0.114 mul add
+      cvi put put
+    } for
+    columns rows 8
+    [ columns 0 0 rows neg 0 rows ]
+    { DecodePacket } image
+  } ifelse
+  grestore
+} bind def
+%***********************************************************************
+%*                          Image decoding                             *
+%***********************************************************************
+DisplayImage
+282 93
+128
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+++ b/Master/Computer Vision/Seminarvortrag/Finding_line_segments.pdf
diff --git a/Master/Computer Vision/Seminarvortrag/Segmentierung.pdf b/Master/Computer Vision/Seminarvortrag/Segmentierung.pdf
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diff --git a/Master/Computer Vision/frame.cpp b/Master/Computer Vision/frame.cpp
new file mode 100644
index 0000000..8a93f2e
--- /dev/null
+++ b/Master/Computer Vision/frame.cpp
@@ -0,0 +1,340 @@
+#include "frame.h"
+#include "parameterset.h"
+#include "utilimagergba.h"
+#include "utiltimeprobe.h"
+#include "vraibolabmodule.h"
+
+// Register this command in the module factory, don't change this!
+bool Frame::m_registered =3D =
+VRAIBOLabModule::getFactory()->registerPrimaryCommand(&create);
+
+// Constructor of this command.
+// The first parameter is the used CommandDescriptor, which will =
+identify this Command.
+// The second parameter is the used CommandGUIDescriptor, which will =
+specify the menue and the=20
+// displayed text. (for more information see WISP-Docu: =
+CommandDescriptor, CommandGUIDescriptor)
+Frame::Frame():Command(new Main::CommandDescriptor("show the =
+parcour-OpenGLscene","vrAiboFrame"),
+					   new =
+Main::CommandGUIDescriptor(Main::CommandGUIDescriptor::ON_MENU,"VRAIBO =
+Frame", "Show Scene Parcour"))
+{
+	// Illustrator is used to show the OPENGL scene
+	mp_Illustrator =3D NULL;
+=09
+	// CloseObserver is used to shut down the Lab frame
+	mp_CloseObserver =3D NULL;
+
+	//UpdateObserver is used to observe the VRAIBO, to receive synchronized =
+repaints
+	mp_UpdateObserver =3D NULL;
+}
+
+// Destructor of the class
+Frame::~Frame()
+{
+
+}
+
+// This method will be executed if the Command was called from the WISP =
+console or WISP GUI.
+void Frame::execute()
+{
+
+	// if you want to use input parameters, you can do it like the =
+following lines=20
+	// e.g to get the height and width for the used picture
+	// (for more information see WISP-Docu: Command, AbstractParameter)=20
+
+	/*Main::Parameter<int> input1;
+	Main::Parameter<int> input2;
+	if(!mp_Selected->getParameterList()->empty())
+	{
+		//solver solves casting problems
+		if(!m_Solver.solve(&input1,mp_Selected->getParameterList()->front()))
+		{
+			=
+Main::Overseer::getInstance()->getOutputConsole()->appendText("Parameter =
+failure");
+			return;
+		}
+
+		if(!m_Solver.solve(&input2,mp_Selected->getParameterList()->at(1)))
+		{
+			=
+Main::Overseer::getInstance()->getOutputConsole()->appendText("Parameter =
+failure");
+			return;
+		}
+		int height =3D *input1.getValue();
+		int width =3D *input2.getValue();
+	}*/
+
+	// The VRAibo class is the central interface to the virtual AIBO =
+(neccessary to let the VRAIBO walk for example)
+	// (for more information see WISP-Docu: VRAibo)
+	VRAIBO::VRAibo* vraibo =3D VRAIBO::VRAibo::getInstance();
+
+	if(vraibo->isRunning())
+	{
+		// Example to use the console for outputs with a linebreak "\n".
+		// alternative, you can use =
+Main::Overseer::getInstance()->getOutputConsole()->appendText("");
+		_Console()->appendText("already running \n");
+		return;
+	}
+	// Illustrator is used to show the OPENGL scene for example the =
+Parcourillustrator or Parcelillustrator
+	//mp_Illustrator =3D new ParcelIllustrator();
+	mp_Illustrator =3D new ParcourIllustrator(); //->alternative =
+illustrator
+
+	// activate the viewing of the opengl scenes ( four different camera =
+positions )
+	// params are the used illustrator, height, width, eye distance to =
+center of head
+	// (half distance between both eyes), start PositonX, startPositionY
+	// (for more information see WISP-Docu: VRAibo)
+	//vraibo->showViews(mp_Illustrator,256,256,0.5,-30,-55);
+	vraibo->showViews(mp_Illustrator,256,256,0.0,-30,-55);
+
+
+	mp_CloseObserver =3D new Frame::MyCloseObserver(this);
+	mp_UpdateObserver =3D new Frame::MyUpdateObserver(this,256,256);
+
+	//add observers to VRAIBO
+	vraibo->addCloseObserver(mp_CloseObserver);
+	vraibo->addUpdateObserver(mp_UpdateObserver);
+
+	_Console()->appendText("ready\n");
+
+	// Inform module about it's use (ensure correct unloading of the =
+module) =20
+	VRAIBOLabModule::setUsed(true);
+}
+
+// Creation method for this Command
+Main::Command* Frame::create()
+{
+	return new Frame();
+}
+
+
+// Constructor of MyCloseObserver
+Frame::MyCloseObserver::MyCloseObserver(Frame* scenes)
+:mp_Frame(scenes)
+{
+
+}
+
+// this method is used to shut down the Lab frame
+void Frame::MyCloseObserver::update()
+{
+=09
+	=
+VRAIBO::VRAibo::getInstance()->removeUpdateObserver(mp_Frame->mp_UpdateOb=
+server);
+	VRAIBO::VRAibo::getInstance()->removeCloseObserver(this);
+	VRAIBOLabModule::setUsed(false);
+	if(VRAIBOLabModule::getFactory()->getModule() !=3DNULL )
+	{
+		delete mp_Frame->mp_Illustrator;
+		delete mp_Frame->mp_UpdateObserver;
+	}
+	delete this;
+}
+
+// Constructor of MyUpdateObserver
+Frame::MyUpdateObserver::MyUpdateObserver(Frame* scenes,int =
+imageWidth,int imageHeight)
+:mp_Frame(scenes)
+{
+	// Get a workspacewindow from the Overseer to put elements on it, like =
+pictures, buttons, labels etc..
+ 	// (for more information see Ab-Docu: AbWindow, WISP-Docu: Overseer)
+	mp_LeftWindow =3D =
+Main::Overseer::getInstance()->getWorkspaceWindow("left image");
+	// Create an imageComponent, which can show a picture
+	// (for more information see Ab-Docu: AbImageComponent)
+	mp_LeftImage =3D new AbImageComponent();
+	// Set the layout for the window (usefull to arrange components)
+	// (for more information see Ab-Docu: AbBorderLayout)
+	mp_LeftWindow->setLayoutManager(new AbBorderLayout());
+	// Add the imageComponent to the window
+	mp_LeftWindow->add(mp_LeftImage);
+	// Set the dimensio of the window
+	AbDimension dim(0,0,imageWidth,imageHeight);
+	mp_LeftWindow->setDimension(dim);
+	// disable resizing of the window
+	mp_LeftWindow->setResizeable(false);
+	// Show the window
+	mp_LeftWindow->show();
+
+
+	mp_RightWindow =3D =
+Main::Overseer::getInstance()->getWorkspaceWindow("right image");
+	mp_RightImage =3D new AbImageComponent();
+	mp_RightWindow->setLayoutManager(new AbBorderLayout());
+	mp_RightWindow->add(mp_RightImage);
+	mp_RightWindow->setResizeable(false);
+	mp_RightWindow->setDimension(dim);
+	mp_RightWindow->show();
+
+	// The VRAibo class is the central interface to the virtual AIBO =
+(neccessary to let the VRAIBO walk for example)
+	// (for more information see WISP-Docu: VRAibo)
+	mp_VRAibo =3D VRAIBO::VRAibo::getInstance();
+
+}
+
+// destructor of MyUpdateObserver
+Frame::MyUpdateObserver::~MyUpdateObserver()
+{
+	//close all own windows
+	AbMemoryManaged::destroy(mp_LeftWindow);
+	AbMemoryManaged::destroy(mp_RightWindow);
+}
+
+
+// This method will return true, if a point of interest has been found.
+// image Left/Right is the picture of the actual position of VRAIBO. You =
+can use this to analyse
+// your situation with different image algorithms or something else.
+// linePos is the Pixel, which will be used to calculate the next angle =
+of rotation
+// (e.g. the center of the line, which you want to follow).
+bool Frame::MyUpdateObserver::evaluate(BV::ImageRGB& =
+imageLeft,BV::ImageRGB& imageRight, double& linePos)
+{=09
+	int x, start, end, h, w;
+	BV::RGBPixel red(198, 0, 0);
+	BV::RGBPixel test;
+	bool begin =3D true;
+//	double terror;
+
+	//heigt, the line is in the lower quarter of the left image
+	h =3D (int) (imageLeft.getHeight()*0.75);
+	//width
+	w =3D imageLeft.getWidth();
+	for(x =3D 0; x < w; x++)
+	{
+		//TB: only for debug issues, the function call could be direct in the =
+if below
+		test =3D imageLeft.getPixel(x,h);
+		//terror =3D imageLeft.getPixel(x,h).getScalarValue();
+		//_Console()->appendText(AbString::format("DEBUG Scalar: %f\n",  =
+terror));
+		//_Console()->appendText(AbString::format("DEBUG RGB: %f %f %f \n", =
+imageLeft.getPixel(x,h).getRed(), imageLeft.getPixel(x,h).getGreen(), =
+imageLeft.getPixel(x,h).getBlue() ));
+
+
+		//TB: get the right side of the red line
+		if(test =3D=3D red && begin =3D=3D true)
+		{
+			start =3D x;
+			begin =3D false;
+		}
+		//TB: get the left side if the red line
+		else if(imageLeft.getPixel(x,h) !=3D red && begin =3D=3D false)
+		{
+			//TB: calc the middle of the red line and return this point
+			end =3D x-1;
+			linePos =3D (start + end)*0.5;
+			return true;
+		}
+	=09
+	}
+
+
+
+	return false;
+=09
+}
+
+
+// This method will be invoked if the VRAIBO has synchronized all views =
+again
+void Frame::MyUpdateObserver::update()
+{
+
+	// Get a rgb-images of VRAIBO's camera=20
+	unsigned char* tempLeft =3D mp_VRAibo->getLeftImage();
+	unsigned char* tempRight =3D mp_VRAibo->getRightImage();
+=09
+	if(tempLeft =3D=3D NULL || tempRight =3D=3D NULL)
+	{
+		return;
+	}
+
+	// Set image for the imageComponents, which shows the Images
+	if(mp_LeftWindow !=3D NULL)
+	{
+		mp_LeftImage->setNewImage(tempLeft, mp_VRAibo->getPictureWidth(), =
+mp_VRAibo->getPictureHeight(), Ab::RGB24);
+	}
+
+	if(mp_RightWindow !=3D NULL)
+	{
+		mp_RightImage->setNewImage(tempRight, mp_VRAibo->getPictureWidth(), =
+mp_VRAibo->getPictureHeight(), Ab::RGB24);
+	}
+
+=09
+	// Create a ImageRGBs for image processing and set buffer pointer for =
+bvImages
+	BV::ImageRGB imageLeft;
+	=
+imageLeft.setBufferPointer(mp_VRAibo->getPictureWidth(),mp_VRAibo->getPic=
+tureHeight(),tempLeft);
+=09
+	BV::ImageRGB imageRight;
+	=
+imageRight.setBufferPointer(mp_VRAibo->getPictureWidth(),mp_VRAibo->getPi=
+ctureHeight(),tempRight);
+
+	// Set the evaluation return value "linePos" to a default value
+	double linePos =3D 0;
+	// Set the angle of rotation for AIBO to a default value
+	double walkAngle =3D 0;
+
+
+	if (evaluate(imageLeft,imageRight,linePos))//pos found
+	{
+		// Point of interest has been found
+
+		// This is a example for a console output in which a variable
+		// and a string will be written to the console
+		// AbString::format() is used like printf()
+		// (for more information see Ab-Docu: AbString)
+		_Console()->appendText(AbString::format("aktuelle Linienposition: =
+%f\n", linePos));
+	=09
+		//TB: calc the angle for the rotation of the robo (see worksheet)
+		walkAngle =3D =
+(mp_VRAibo->getFovy()/mp_VRAibo->getPictureWidth())*-(linePos-imageLeft.g=
+etWidth()*0.5);
+	=09
+		_Console()->appendText(AbString::format("aktueller Walkangle: %d\n", =
+walkAngle));
+
+		//let the VRAIBO turn "walkAngle" degrees=20
+		mp_VRAibo->turn(walkAngle);
+		//let the VRAIBO walk 0.5=20
+		mp_VRAibo->walk(0.5);
+	=09
+	}
+	else
+	{
+		//TB: if no line was found walk forward...
+		mp_VRAibo->walk(0.5);
+		// Point of interest has not been found
+		// Search for point of interest
+		_Console()->appendText("No Lineposition found \n");
+	}
+
+=09
+}
+
diff --git a/Master/Computer Vision/pmf-paper.pdf b/Master/Computer Vision/pmf-paper.pdf
new file mode 100644
index 0000000..2ae130a
--- /dev/null
+++ b/Master/Computer Vision/pmf-paper.pdf
author	Sven Eisenhauer <sven@sven-eisenhauer.net>	2023-11-10 15:11:48 +0100
committer	Sven Eisenhauer <sven@sven-eisenhauer.net>	2023-11-10 15:11:48 +0100
commit	33613a85afc4b1481367fbe92a17ee59c240250b (patch)
tree	670b842326116b376b505ec2263878912fca97e2 /Master/Computer Vision
download	Studium-master.tar.gz Studium-master.tar.bz2