Star-like arranged scanline points.
More...
#include <>>
|
| ScanlineStar (unsigned int image_width, unsigned int image_height, unsigned int center_x, unsigned int center_y, unsigned int num_rays, unsigned int radius_incr, unsigned char *yuv_mask, unsigned int dead_radius=0, unsigned int max_radius=0, unsigned int margin=0) |
| Constructor. More...
|
|
virtual | ~ScanlineStar () |
| 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...
|
|
void | advance () |
| Calculates the next scanline point. 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...
|
|
void | set_robot_pose (float x, float y, float ori) |
| Set the robot's pose. More...
|
|
void | set_pan_tilt (float pan, float tilt) |
| Set camera's pan/tilt values. More...
|
|
void | skip_current_ray () |
| Skips the current ray and continues with the first valid scanline point of the next ray. More...
|
|
unsigned int | num_rays () const |
| Returns the number of segments in the model. More...
|
|
unsigned int | ray_index () const |
| Return the index of the current ray. More...
|
|
unsigned int | current_radius () const |
| Returns the radius of the current scanline point. More...
|
|
float | current_angle () const |
| Returns the angle of the current scanline point. More...
|
|
bool | first_on_ray () const |
| Checks whether the current scanpoint is the first scanpoint on the current ray. More...
|
|
virtual | ~ScanlineModel () |
| Virtual empty destructor. More...
|
|
virtual void | set_roi (ROI *roi=NULL) |
| Set the region-of-interest. More...
|
|
Star-like arranged scanline points.
- Author
- Daniel Beck
Definition at line 36 of file star.h.
◆ ScanlineStar()
firevision::ScanlineStar::ScanlineStar |
( |
unsigned int |
image_width, |
|
|
unsigned int |
image_height, |
|
|
unsigned int |
center_x, |
|
|
unsigned int |
center_y, |
|
|
unsigned int |
num_rays, |
|
|
unsigned int |
radius_incr, |
|
|
unsigned char * |
yuv_mask, |
|
|
unsigned int |
dead_radius = 0 , |
|
|
unsigned int |
max_radius = 0 , |
|
|
unsigned int |
margin = 0 |
|
) |
| |
Constructor.
- Parameters
-
image_width | width of the image |
image_height | height of the image |
center_x | x-coordinate of the center point |
center_y | y-coordinate of the center point |
num_rays | number of rays |
radius_incr | number of pixels by which the radius is increased |
yuv_mask | a mask allows to exclude certain regions of the image from inspection. More precisely, no scanline points are generated in those areas. The ignored regions have to be black, i.e. Y=0, U=127, V=127. |
dead_radius | number of pixels around the center that are disregarded |
max_radius | maximal radius in number of pixels |
margin | margin around every scanline point that does not contain any other scanline point (in pixels) |
Definition at line 58 of file star.cpp.
References fawkes::deg2rad().
◆ ~ScanlineStar()
firevision::ScanlineStar::~ScanlineStar |
( |
| ) |
|
|
virtual |
Destructor.
Definition at line 97 of file star.cpp.
◆ advance()
void firevision::ScanlineStar::advance |
( |
| ) |
|
Calculates the next scanline point.
Definition at line 140 of file star.cpp.
◆ current_angle()
float firevision::ScanlineStar::current_angle |
( |
| ) |
const |
Returns the angle of the current scanline point.
- Returns
- the angle of the current scanline point
Definition at line 270 of file star.cpp.
◆ current_radius()
unsigned int firevision::ScanlineStar::current_radius |
( |
| ) |
const |
Returns the radius of the current scanline point.
- Returns
- the radius of the current scanline point
Definition at line 260 of file star.cpp.
◆ finished()
bool firevision::ScanlineStar::finished |
( |
| ) |
|
|
virtual |
Check if all desired points have been processed.
- Returns
- true if all pixels that the model defines have been iterated.
Implements firevision::ScanlineModel.
Definition at line 167 of file star.cpp.
◆ first_on_ray()
bool firevision::ScanlineStar::first_on_ray |
( |
| ) |
const |
◆ get_margin()
unsigned int firevision::ScanlineStar::get_margin |
( |
| ) |
|
|
virtual |
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.
- Returns
- margin around a point.
Implements firevision::ScanlineModel.
Definition at line 194 of file star.cpp.
◆ get_name()
const char * firevision::ScanlineStar::get_name |
( |
| ) |
|
|
virtual |
◆ num_rays()
unsigned int firevision::ScanlineStar::num_rays |
( |
| ) |
const |
Returns the number of segments in the model.
- Returns
- the number of segments
Definition at line 240 of file star.cpp.
◆ operator*()
upoint_t firevision::ScanlineStar::operator* |
( |
| ) |
|
|
virtual |
◆ operator++() [1/2]
upoint_t * firevision::ScanlineStar::operator++ |
( |
| ) |
|
|
virtual |
Postfix ++ operator.
Advances to the next point and returns the new point.
- Returns
- pointer to new point
Implements firevision::ScanlineModel.
Definition at line 121 of file star.cpp.
◆ operator++() [2/2]
upoint_t * firevision::ScanlineStar::operator++ |
( |
int |
| ) |
|
|
virtual |
Prefix ++ operator.
Advances to the next point but returns the old point.
- Returns
- pointer to next point
Implements firevision::ScanlineModel.
Definition at line 129 of file star.cpp.
◆ operator->()
upoint_t * firevision::ScanlineStar::operator-> |
( |
| ) |
|
|
virtual |
◆ ray_index()
unsigned int firevision::ScanlineStar::ray_index |
( |
| ) |
const |
Return the index of the current ray.
- Returns
- the index of the current ray
Definition at line 250 of file star.cpp.
◆ reset()
void firevision::ScanlineStar::reset |
( |
| ) |
|
|
virtual |
◆ set_pan_tilt()
void firevision::ScanlineStar::set_pan_tilt |
( |
float |
pan, |
|
|
float |
tilt |
|
) |
| |
|
virtual |
◆ set_robot_pose()
void firevision::ScanlineStar::set_robot_pose |
( |
float |
x, |
|
|
float |
y, |
|
|
float |
ori |
|
) |
| |
|
virtual |
Set the robot's pose.
- Parameters
-
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.
Definition at line 201 of file star.cpp.
◆ skip_current_ray()
void firevision::ScanlineStar::skip_current_ray |
( |
| ) |
|
Skips the current ray and continues with the first valid scanline point of the next ray.
Definition at line 217 of file star.cpp.
The documentation for this class was generated from the following files:
- src/libs/fvmodels/scanlines/star.h
- src/libs/fvmodels/scanlines/star.cpp