Fawkes API
Fawkes Development Version
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SrSave vision image processing pipeline. More...
#include "pipeline_thread.h"
Public Member Functions | |
FvSrSavePipelineThread () | |
Constructor. | |
virtual | ~FvSrSavePipelineThread () |
Destructor. | |
virtual void | init () |
Initialize the pipeline thread. | |
virtual void | finalize () |
Thread finalization. | |
virtual void | loop () |
A new image is retrieved from the camera and the classifier looks for a ball in the image. |
SrSave vision image processing pipeline.
This thread implements an image processing pipeline that uses a colormodel and classifier to determine regions of interest (ROI) which contain a significant amount with "pixels of ball color". The best ROI is then filtered for edge detection. On the edges a circle shape detection is carried out to confirm the result and to get the required data to calculate the relative and global position of the ball.
FvSrSavePipelineThread::FvSrSavePipelineThread | ( | ) |
Constructor.
Definition at line 46 of file pipeline_thread.cpp.
FvSrSavePipelineThread::~FvSrSavePipelineThread | ( | ) | [virtual] |
Destructor.
Definition at line 54 of file pipeline_thread.cpp.
void FvSrSavePipelineThread::finalize | ( | ) | [virtual] |
Thread finalization.
Reimplemented from fawkes::Thread.
Definition at line 77 of file pipeline_thread.cpp.
References fawkes::VisionAspect::vision_master, and firevision::VisionMaster::unregister_thread().
void FvSrSavePipelineThread::init | ( | ) | [virtual] |
Initialize the pipeline thread.
Camera is requested, config parameters are obtained from the config db, and other miscellaneous init stuff is done here.
Reimplemented from fawkes::Thread.
Definition at line 64 of file pipeline_thread.cpp.
References fawkes::VisionAspect::vision_master, firevision::VisionMaster::register_for_raw_camera(), and fawkes::Exception::append().
void FvSrSavePipelineThread::loop | ( | ) | [virtual] |
A new image is retrieved from the camera and the classifier looks for a ball in the image.
Reimplemented from fawkes::Thread.
Definition at line 85 of file pipeline_thread.cpp.
References firevision::Camera::capture(), firevision::Camera::pixel_width(), firevision::Camera::pixel_height(), firevision::Camera::buffer(), fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::Thread::name(), and firevision::Camera::dispose_buffer().