Fawkes API
Fawkes Development Version
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Scanline Grid. More...
#include <>>
Public Member Functions | |
ScanlineGrid (unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true) | |
Constructor. More... | |
virtual | ~ScanlineGrid () |
Destructor. More... | |
fawkes::upoint_t | operator* () |
Get the current coordinate. More... | |
fawkes::upoint_t * | operator-> () |
Get pointer to current point. More... | |
fawkes::upoint_t * | operator++ () |
Postfix ++ operator. More... | |
fawkes::upoint_t * | operator++ (int) |
Prefix ++ operator. More... | |
bool | finished () |
Check if all desired points have been processed. More... | |
void | reset () |
Reset model. More... | |
const char * | get_name () |
Get name of scanline model. More... | |
unsigned int | get_margin () |
Get margin around points. More... | |
virtual void | set_robot_pose (float x, float y, float ori) |
Set the robot's pose. More... | |
virtual void | set_pan_tilt (float pan, float tilt) |
Set camera's pan/tilt values. More... | |
virtual void | set_roi (ROI *roi=NULL) |
Set the region-of-interest. More... | |
void | setDimensions (unsigned int width, unsigned int height, ROI *roi=NULL) |
Set dimensions. More... | |
void | setOffset (unsigned int offset_x, unsigned int offset_y) |
Set offset. More... | |
void | setGridParams (unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true) |
Set all grid parameters. More... | |
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virtual | ~ScanlineModel () |
Virtual empty destructor. More... | |
Scanline Grid.
A grid as scanline points. The crossings of the lines are the scanline points.
firevision::ScanlineGrid::ScanlineGrid | ( | unsigned int | width, |
unsigned int | height, | ||
unsigned int | offset_x, | ||
unsigned int | offset_y, | ||
ROI * | roi = NULL , |
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bool | horizontal_grid = true |
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Constructor.
width | width of grid |
height | height of grid |
offset_x | x offset between lines |
offset_y | y offset between lines |
roi | the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). |
horizontal_grid | if true x will be increased before y |
Definition at line 51 of file grid.cpp.
References setGridParams().
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Check if all desired points have been processed.
Implements firevision::ScanlineModel.
Definition at line 143 of file grid.cpp.
Referenced by operator->().
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Get margin around points.
Models that do not use margins shall return zero. It shall be guaranteed that in this margin region around a point there is no other point that has been or will be returned in a full iteration.
Implements firevision::ScanlineModel.
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Get the current coordinate.
Implements firevision::ScanlineModel.
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Postfix ++ operator.
Advances to the next point and returns the new point.
Implements firevision::ScanlineModel.
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Prefix ++ operator.
Advances to the next point but returns the old point.
Implements firevision::ScanlineModel.
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Get pointer to current point.
Implements firevision::ScanlineModel.
Definition at line 76 of file grid.cpp.
References finished(), firevision::ROI::image_height, firevision::ROI::image_width, firevision::ROI::start, fawkes::upoint_t::x, and fawkes::upoint_t::y.
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Reset model.
Resets the set of processed points.
Implements firevision::ScanlineModel.
Definition at line 149 of file grid.cpp.
References firevision::ROI::start, fawkes::upoint_t::x, and fawkes::upoint_t::y.
Referenced by set_roi(), and setOffset().
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Set camera's pan/tilt values.
pan | camera's current pan |
tilt | camera's current tilt |
Implements firevision::ScanlineModel.
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Set the robot's pose.
x | robot's x coordinate on field in meters |
y | robot's y coordinate on field in meters |
ori | robot's orientation. Looking towards the opponent goal is zero rad, with positive values pointing to the right, negative to the left. |
Implements firevision::ScanlineModel.
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Set the region-of-interest.
If not NULL the scanlines gets only calculated within the ROI
roi | the region where scanlines should be calculated |
Reimplemented from firevision::ScanlineModel.
Definition at line 185 of file grid.cpp.
References firevision::ROI::height, firevision::ROI::image_height, firevision::ROI::image_width, reset(), firevision::ROI::start, firevision::ROI::width, fawkes::upoint_t::x, and fawkes::upoint_t::y.
Referenced by setDimensions().
void firevision::ScanlineGrid::setDimensions | ( | unsigned int | width, |
unsigned int | height, | ||
ROI * | roi = NULL |
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Set dimensions.
Set width and height of scanline grid. Implicitly resets the grid.
width | width |
height | height |
roi | the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid! |
Definition at line 217 of file grid.cpp.
References set_roi().
Referenced by setGridParams().
void firevision::ScanlineGrid::setGridParams | ( | unsigned int | width, |
unsigned int | height, | ||
unsigned int | offset_x, | ||
unsigned int | offset_y, | ||
ROI * | roi = NULL , |
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bool | horizontal_grid = true |
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Set all grid parameters.
Set width, height, X and Y offset by which the pointer in the grid is advanced. Implicitly resets the grid.
width | width |
height | height |
offset_x | offset_x |
offset_y | offset_y |
roi | the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid! |
horizontal_grid | if true x will be increased before y |
Definition at line 254 of file grid.cpp.
References setDimensions(), and setOffset().
Referenced by ScanlineGrid().
void firevision::ScanlineGrid::setOffset | ( | unsigned int | offset_x, |
unsigned int | offset_y | ||
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Set offset.
Set X and Y offset by which the pointer in the grid is advanced. Implicitly resets the grid.
offset_x | offset_x |
offset_y | offset_y |
Definition at line 232 of file grid.cpp.
References reset().
Referenced by setGridParams().