Star-like arranged scanline points. More...

#include <>>

Inheritance diagram for firevision::ScanlineStar:

Public Member Functions
	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...

Public Member Functions inherited from firevision::ScanlineModel
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...

Detailed Description

Star-like arranged scanline points.

Author: Daniel Beck

Definition at line 34 of file star.h.

Constructor & Destructor Documentation

◆ 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 55 of file star.cpp.

References fawkes::deg2rad(), num_rays(), reset(), fawkes::upoint_t::x, and fawkes::upoint_t::y.

◆ ~ScanlineStar()

firevision::ScanlineStar::~ScanlineStar ( )

virtual

Destructor.

Definition at line 96 of file star.cpp.

Member Function Documentation

◆ advance()

void firevision::ScanlineStar::advance ( )

Calculates the next scanline point.

Definition at line 134 of file star.cpp.

Referenced by operator++().

◆ 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 254 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 245 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 160 of file star.cpp.

◆ first_on_ray()

bool firevision::ScanlineStar::first_on_ray ( ) const

Checks whether the current scanpoint is the first scanpoint on the current ray.

Returns: true, if the it is the first scanpoint on the current ray

Definition at line 264 of file star.cpp.

◆ 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 184 of file star.cpp.

◆ get_name()

const char * firevision::ScanlineStar::get_name ( )

virtual

Get name of scanline model.

Returns: name of scanline model.

Implements firevision::ScanlineModel.

Definition at line 178 of file star.cpp.

◆ 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 227 of file star.cpp.

Referenced by ScanlineStar().

◆ operator*()

upoint_t firevision::ScanlineStar::operator* ( )

virtual

Get the current coordinate.

Returns: current point in image that is shall be processed.

Implements firevision::ScanlineModel.

Definition at line 105 of file star.cpp.

◆ 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 117 of file star.cpp.

References advance().

◆ 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 124 of file star.cpp.

References advance().

◆ operator->()

upoint_t * firevision::ScanlineStar::operator-> ( )

virtual

Get pointer to current point.

Returns: pointer to current point

See also: operator*()

Implements firevision::ScanlineModel.

Definition at line 111 of file star.cpp.

◆ 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 236 of file star.cpp.

◆ reset()

void firevision::ScanlineStar::reset ( )

virtual

Reset model.

Resets the set of processed points.

Implements firevision::ScanlineModel.

Definition at line 166 of file star.cpp.

Referenced by ScanlineStar().

◆ set_pan_tilt()

void firevision::ScanlineStar::set_pan_tilt	(	float	pan,
		float	tilt
	)

virtual

Set camera's pan/tilt values.

Parameters

pan	camera's current pan
tilt	camera's current tilt

Implements firevision::ScanlineModel.

Definition at line 196 of file star.cpp.

◆ 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 190 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 204 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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ScanlineStar()

◆ ~ScanlineStar()

Member Function Documentation

◆ advance()

◆ current_angle()

◆ current_radius()

◆ finished()

◆ first_on_ray()

◆ get_margin()

◆ get_name()

◆ num_rays()

◆ operator*()

◆ operator++() [1/2]

◆ operator++() [2/2]

◆ operator->()

◆ ray_index()

◆ reset()

◆ set_pan_tilt()

◆ set_robot_pose()

◆ skip_current_ray()