Vision Module Library

Classes
class	Camera
	This class is responsible for image acquisition process As an output this class provides the raw image in /vision/takenImg topic. More...
class	CameraDummy
	This class is responsible for imitating image acquisition process as a dummy replacement for Camera Class As an input this class listen the raw image in /vision/takenImg topic. More...
class	Localization
	For localization in the soccer field. More...
class	CameraProjections
	For pixel projections. More...
class	DistortionModel
	For undistortion. More...
class	IPM
	For Inverse Perspective Mapping. More...
class	BallDetector
	For detecting at least 50% white ball. More...
class	CircleDetector
	For detecting center circle. More...
class	FieldDetector
	For detecting field boundary. More...
class	GoalDetector
	For detecting potential goal posts. More...
class	LineDetector
	For detecting field lines. More...
class	ObstacleDetector
	For detecting other robots with black feet. More...
class	BoundaryLineInterpolation
	A class for interpolating between boundaries. More...
class	ContourTester
	A container class for testing countours. More...
class	DistanceSizeS
	A container class for distance-size calibration. More...
class	GuiRetS
	A container class for gui rectangles. More...
class	GuiManager
	A container class for managing gui events. More...
class	HillOptimizer< T >
	A class for hill climbing optimization. More...
class	HSVPresenter
	A class for showing HSV color range. More...
class	KalmanFilterC
	A class for Kalman filter. More...
class	LinearBoundaryChecker
	A class for check if a point is between two given line segments. More...
class	LinearInterpolator
	A class for linearInterpolation. More...
class	LineSegment
	A class representing line segments. More...
class	LineSegmentTester
	A class for visualize and test linesegments. More...
class	MatPublisher
	A class for publish mat objects. More...
class	hsvRangeC
	HSV range class. More...
class	fieldParamC
	Parameters container class for field detection. More...
class	ballParamC
	Parameters container class for ball detection. More...
class	lineParamC
	Parameters container class for line detection. More...
class	goalParamC
	Parameters container class for goal detection. More...
class	obstacleParamC
	Parameters container class for obstacle detection. More...
class	igusParamC
	Parameters container class for igus color. More...
class	cameraC
	Parameters container class for camera. More...
class	topViewC
	Parameters container class for top view. More...
class	calibC
	Parameters container class for camera calibration. More...
class	debugC
	Parameters container class for debuging purposes. More...
class	circleC
	Parameters container class for circle detection. More...
class	localizationC
	Parameters container class for localization. More...
class	tfC
	Parameters container class for tf calibration. More...
class	guiC
	Parameters container class for gui. More...
class	CameraCalibratorC
	Parameters container class for camera calibration. More...
class	ParametersC
	Parameters container class. More...
class	SimplexOptimizer< T >
	Nelder–Mead optimization. More...
class	sorter
	For sorting operations on custom objects. More...
class	VisionTimer
	To set a timer and checked if the timeout exceeded. More...
class	VisionRate
	For fixing the loop rate. More...
class	Vision
	This class is for managing all the required actions to find interesting objects in soccer field. More...

Detailed Description

Author

Hafez Farazi (faraz.nosp@m.i@ai.nosp@m.s.uni.nosp@m.-bon.nosp@m.n.de)

Date

Apr 20, 2015

Version

1.1

Overview

The Vision Module Library is for detecting soccer objects in the filed.

Academic Sources

The Vision Module Library is detailed in the following paper.

H.Farazi , P. Allgeuer and S. Behnke, "A Monocular Vision System for Playing Soccer in Low Color Information Environments ," in Proceedings of the 10th Workshop on Humanoid Soccer Robots, IEEE-RAS Int. Conference on Humanoid Robots, Seoul, Korea, 2015.

You are kindly asked to cite this paper if you use this framework for academic work.

@InProceedings{Farazi2015,
  Title                    = {A Monocular Vision System for Playing Soccer in Low Color Information Environments},
  Author                   = {Hafez Farazi and Philipp Allgeuer and Sven Behnke},
  Booktitle                = {Proceedings of 10th Workshop on Humanoid Soccer Robots, IEEE-RAS Int. Conference on Humanoid Robots},
  Year                     = {2015},
  Address                  = {Seoul, Korea}
}