This class is used to draw a soccer field. More...

#include <>>

Public Member Functions
	FieldDrawer (const FieldLines &lines)
	Created a new field object.
virtual	~FieldDrawer ()
	Destructor.
void	set_head_yaw (float head_yaw)
	Sets the angular offset between body and head (along the body axis)
void	set_own_pos (fawkes::field_pos_t own_position)
	Own position setter.
void	set_own_pos_est (fawkes::field_pos_t own_position_estimate)
	Own position estimate setter.
void	set_line_points (const fld_line_points_t *points)
	Setter for detected line points.
void	set_line_points_est (const fld_line_points_t *points_est)
	Setter for detected line points.
void	set_color_background (YUV_t color)
	Sets the background color (outside the field)
void	set_color_field (YUV_t color)
	Sets the field color.
void	set_color_lines (YUV_t color)
	Sets the lines color.
void	set_color_line_points (YUV_t color)
	Sets the line points color.
void	set_color_line_points_est (YUV_t color)
	Sets the line points color.
void	set_color_own_pos (YUV_t color)
	Sets the own position color.
void	set_color_own_pos_est (YUV_t color)
	Sets the own position estimates color.
virtual void	draw_field (unsigned char *yuv422_planar, unsigned int img_width, unsigned int img_height, bool draw_background=true, bool draw_landscape=true)
	Draws the field (including the own position [est]).

Protected Member Functions
void	clear_own_pos ()
	Clears the own position.
float	get_scale (unsigned int img_width, unsigned int img_height, bool draw_landscape=true) const
	Calculates the conversion factor between field size and image size.
virtual void	draw_line_points (bool draw_landscape=true, float scale=0) const
	Draws the line points.
virtual void	draw_lines (YUV_t color, bool draw_landscape=true, float scale=0) const
	Draws the field lines to a SharedMemoryImageBuffer.

Protected Attributes
unsigned char *	_img_buffer
	The pointer to the target image buffer.
unsigned int	_img_width
	The width of the target image buffer.
unsigned int	_img_height
	The height of the target image buffer.

Detailed Description

This class is used to draw a soccer field.

Author:: Christof Rath

Definition at line 38 of file field_drawer.h.

Constructor & Destructor Documentation

firevision::FieldDrawer::FieldDrawer ( const FieldLines & lines )

Created a new field object.

Parameters:

lines the field lines container

Definition at line 60 of file field_drawer.cpp.

References firevision::YUV_t_struct::black(), clear_own_pos(), firevision::YUV_t_struct::cyan(), firevision::YUV_t_struct::green(), set_color_background(), set_color_field(), set_color_line_points(), set_color_line_points_est(), set_color_lines(), set_color_own_pos(), set_color_own_pos_est(), firevision::YUV_t_struct::white(), and firevision::YUV_t_struct::yellow().

firevision::FieldDrawer::~FieldDrawer ( )

virtual

Destructor.

Definition at line 82 of file field_drawer.cpp.

Member Function Documentation

void firevision::FieldDrawer::clear_own_pos ( )

inlineprotected

Clears the own position.

Used (e.g.) if the own position couldn't be calculated

Definition at line 124 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, and fawkes::field_pos_t::ori.

Referenced by draw_field(), and FieldDrawer().

void firevision::FieldDrawer::draw_field	(	unsigned char *	yuv422_planar,
		unsigned int	img_width,
		unsigned int	img_height,
		bool	draw_background = `true`,
		bool	draw_landscape = `true`
	)

virtual

Draws the field (including the own position [est]).

The position [est] and line points [est] gets reseted after drawing

Parameters:

yuv422_planar	the image buffer
img_width	the image width
img_height	the image height
draw_background	true if the background (field and border) should be drawn
draw_landscape	true if the field should be drawn landscape

Definition at line 259 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, clear_own_pos(), firevision::ROI::contains(), firevision::Drawer::draw_circle(), firevision::Drawer::draw_line(), draw_line_points(), draw_lines(), firevision::FieldLines::get_field_length(), firevision::FieldLines::get_field_offsets(), firevision::FieldLines::get_field_width(), fawkes::field_pos_t::ori, firevision::Drawer::set_buffer(), firevision::Drawer::set_color(), firevision::YUV_t_struct::U, firevision::YUV_t_struct::V, fawkes::cart_coord_2d_t::x, fawkes::field_pos_t::x, fawkes::cart_coord_2d_t::y, firevision::YUV_t_struct::Y, and fawkes::field_pos_t::y.

void firevision::FieldDrawer::draw_line_points	(	bool	draw_landscape = `true`,
		float	scale = `0`
	)		const

protectedvirtual

Draws the line points.

Parameters:

draw_landscape	true if the field should be drawn landscape
scale	the pre calculated scale (conversion factor between image size and field size - if 0 the value gets calculated)

Definition at line 401 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, firevision::Drawer::draw_cross(), firevision::FieldLines::get_field_length(), firevision::FieldLines::get_field_offsets(), firevision::FieldLines::get_field_width(), firevision::Drawer::set_buffer(), firevision::Drawer::set_color(), fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.

Referenced by draw_field().

void firevision::FieldDrawer::draw_lines	(	YUV_t	color,
		bool	draw_landscape = `true`,
		float	scale = `0`
	)		const

protectedvirtual

Draws the field lines to a SharedMemoryImageBuffer.

Parameters:

color	of the lines
draw_landscape	if true (default) the field is supposed to be landscape
scale	the conversation factor between [m] and [px] (if 0 this value gets calculated)

Definition at line 445 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, firevision::Drawer::draw_circle(), firevision::Drawer::draw_line(), firevision::FieldLines::get_circles(), firevision::FieldLines::get_field_length(), firevision::FieldLines::get_field_offsets(), firevision::FieldLines::get_field_width(), firevision::Drawer::set_buffer(), firevision::Drawer::set_color(), fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.

Referenced by draw_field().

float firevision::FieldDrawer::get_scale	(	unsigned int	img_width,
		unsigned int	img_height,
		bool	draw_landscape = `true`
	)		const

inlineprotected

Calculates the conversion factor between field size and image size.

Parameters:

img_width	of the target image
img_height	of the target image
draw_landscape	true if the image should be drawn landscape

Returns:: the conversion factor

Definition at line 169 of file field_drawer.cpp.

References firevision::FieldLines::get_field_length(), and firevision::FieldLines::get_field_width().

void firevision::FieldDrawer::set_color_background ( YUV_t color )

Sets the background color (outside the field)

Parameters:

color to be used

Definition at line 181 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_color_field ( YUV_t color )

Sets the field color.

Parameters:

color to be used

Definition at line 191 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_color_line_points ( YUV_t color )

Sets the line points color.

Parameters:

color to be used

Definition at line 211 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_color_line_points_est ( YUV_t color )

Sets the line points color.

Parameters:

color to be used

Definition at line 221 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_color_lines ( YUV_t color )

Sets the lines color.

Parameters:

color to be used

Definition at line 201 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_color_own_pos ( YUV_t color )

Sets the own position color.

Parameters:

color to be used

Definition at line 231 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_color_own_pos_est ( YUV_t color )

Sets the own position estimates color.

Parameters:

color to be used

Definition at line 241 of file field_drawer.cpp.

Referenced by FieldDrawer().

void firevision::FieldDrawer::set_head_yaw ( float head_yaw )

Sets the angular offset between body and head (along the body axis)

Parameters:

head_yaw angular offset

Definition at line 92 of file field_drawer.cpp.

void firevision::FieldDrawer::set_line_points ( const fld_line_points_t * points )

Setter for detected line points.

Parameters:

points a list of line points (relative to the center of the field!)

Definition at line 143 of file field_drawer.cpp.

void firevision::FieldDrawer::set_line_points_est ( const fld_line_points_t * points_est )

Setter for detected line points.

Parameters:

points_est a list of line points (relative to the center of the field!)

Definition at line 154 of file field_drawer.cpp.

void firevision::FieldDrawer::set_own_pos ( fawkes::field_pos_t own_position )

Own position setter.

Sets the (calculated) own position on the field

Parameters:

own_position as calculated by the localization

Definition at line 103 of file field_drawer.cpp.

void firevision::FieldDrawer::set_own_pos_est ( fawkes::field_pos_t own_position_estimate )

Own position estimate setter.

Sets the position estimate (e.g. by triangulation, odometry, ...)

Parameters:

own_position_estimate as estimated

Definition at line 114 of file field_drawer.cpp.

Member Data Documentation

float firevision::FieldDrawer::_img_buffer

protected

The pointer to the target image buffer.

Definition at line 68 of file field_drawer.h.

Referenced by clear_own_pos(), draw_field(), draw_line_points(), and draw_lines().

float firevision::FieldDrawer::_img_height

protected

The height of the target image buffer.

Definition at line 70 of file field_drawer.h.

Referenced by clear_own_pos(), draw_field(), draw_line_points(), and draw_lines().

float firevision::FieldDrawer::_img_width

protected

The width of the target image buffer.

Definition at line 69 of file field_drawer.h.

Referenced by clear_own_pos(), draw_field(), draw_line_points(), and draw_lines().

The documentation for this class was generated from the following files:

src/libs/fvutils/draw/field_drawer.h
src/libs/fvutils/draw/field_drawer.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation