add new repoHEADmaster

1 files changed, 340 insertions, 0 deletions

diff --git a/Master/Computer Vision/frame.cpp b/Master/Computer Vision/frame.cpp
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+++ b/Master/Computer Vision/frame.cpp
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+#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
+}
+