Fawkes API
Fawkes Development Version
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Scanline model interface. More...
#include <>>
Public Member Functions | |
virtual | ~ScanlineModel () |
Virtual empty destructor. More... | |
virtual fawkes::upoint_t | operator* ()=0 |
Get the current coordinate. More... | |
virtual fawkes::upoint_t * | operator-> ()=0 |
Get pointer to current point. More... | |
virtual fawkes::upoint_t * | operator++ ()=0 |
Postfix ++ operator. More... | |
virtual fawkes::upoint_t * | operator++ (int)=0 |
Prefix ++ operator. More... | |
virtual bool | finished ()=0 |
Check if all desired points have been processed. More... | |
virtual void | reset ()=0 |
Reset model. More... | |
virtual const char * | get_name ()=0 |
Get name of scanline model. More... | |
virtual unsigned int | get_margin ()=0 |
Get margin around points. More... | |
virtual void | set_robot_pose (float x, float y, float ori)=0 |
Set the robot's pose. More... | |
virtual void | set_pan_tilt (float pan, float tilt)=0 |
Set camera's pan/tilt values. More... | |
virtual void | set_roi (ROI *roi=NULL) |
Set the region-of-interest. More... | |
Scanline model interface.
This interface defines the API for the scanline model. A scanline model determines a specific set of points in the image that should be used for image evaluation if using all the pixels of an image would take too long. This is one of the major optimizations throughout FireVision to ensure high speed image processing.
Definition at line 55 of file scanlinemodel.h.
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inlinevirtual |
Virtual empty destructor.
Definition at line 60 of file scanlinemodel.h.
References finished(), get_margin(), get_name(), operator*(), operator++(), operator->(), reset(), set_pan_tilt(), and set_robot_pose().
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pure virtual |
Check if all desired points have been processed.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineStar, firevision::ScanlineBeams, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure 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.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineStar, firevision::ScanlineBeams, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
Get name of scanline model.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineStar, firevision::ScanlineBeams, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
Get the current coordinate.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineBeams, firevision::ScanlineStar, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
Postfix ++ operator.
Advances to the next point and returns the new point.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineBeams, firevision::ScanlineStar, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
Prefix ++ operator.
Advances to the next point but returns the old point.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineBeams, firevision::ScanlineStar, firevision::ScanlineGrid, and firevision::ScanlineRadial.
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pure virtual |
Get pointer to current point.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineBeams, firevision::ScanlineStar, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
Reset model.
Resets the set of processed points.
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineStar, firevision::ScanlineBeams, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
Set camera's pan/tilt values.
pan | camera's current pan |
tilt | camera's current tilt |
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineBeams, firevision::ScanlineStar, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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pure virtual |
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. |
Implemented in firevision::CornerHorizon, firevision::ScanlineLineGrid, firevision::ScanlineBeams, firevision::ScanlineStar, firevision::ScanlineGrid, and firevision::ScanlineRadial.
Referenced by ~ScanlineModel().
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inlinevirtual |
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 in firevision::ScanlineLineGrid, and firevision::ScanlineGrid.
Definition at line 128 of file scanlinemodel.h.