Scanline Grid. More...

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Inheritance diagram for firevision::ScanlineGrid:

Public Member Functions
	ScanlineGrid (unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true)
	Constructor.
virtual	~ScanlineGrid ()
	Destructor.
fawkes::point_t	operator* ()
	Get the current coordinate.
fawkes::point_t *	operator-> ()
	Get pointer to current point.
fawkes::point_t *	operator++ ()
	Postfix ++ operator.
fawkes::point_t *	operator++ (int)
	Prefix ++ operator.
bool	finished ()
	Check if all desired points have been processed.
void	reset ()
	Reset model.
const char *	get_name ()
	Get name of scanline model.
unsigned int	get_margin ()
	Get margin around points.
virtual void	set_robot_pose (float x, float y, float ori)
	Set the robot's pose.
virtual void	set_pan_tilt (float pan, float tilt)
	Set camera's pan/tilt values.
virtual void	set_roi (ROI *roi=NULL)
	Set the region-of-interest.
void	setDimensions (unsigned int width, unsigned int height, ROI *roi=NULL)
	Set dimensions.
void	setOffset (unsigned int offset_x, unsigned int offset_y)
	Set offset.
void	setGridParams (unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true)
	Set all grid parameters.
Public Member Functions inherited from firevision::ScanlineModel
virtual	~ScanlineModel ()
	Virtual empty destructor.

Detailed Description

Scanline Grid.

A grid as scanline points. The crossings of the lines are the scanline points.

Definition at line 36 of file grid.h.

Constructor & Destructor Documentation

firevision::ScanlineGrid::ScanlineGrid	(	unsigned int	width,
		unsigned int	height,
		unsigned int	offset_x,
		unsigned int	offset_y,
		ROI *	roi = `NULL`,
		bool	horizontal_grid = `true`
	)

Constructor.

Parameters:

width	width of grid
height	height of grid
offset_x	x offset between lines
offset_y	y offset between lines
roi	the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height).
horizontal_grid	if true x will be increased before y

Definition at line 51 of file grid.cpp.

firevision::ScanlineGrid::~ScanlineGrid ( )

virtual

Destructor.

Definition at line 64 of file grid.cpp.

Member Function Documentation

bool firevision::ScanlineGrid::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 142 of file grid.cpp.

unsigned int firevision::ScanlineGrid::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 164 of file grid.cpp.

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

virtual

Get name of scanline model.

Returns:: name of scanline model.

Implements firevision::ScanlineModel.

Definition at line 157 of file grid.cpp.

point_t firevision::ScanlineGrid::operator* ( )

virtual

Get the current coordinate.

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

Implements firevision::ScanlineModel.

Definition at line 69 of file grid.cpp.

point_t * firevision::ScanlineGrid::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 127 of file grid.cpp.

point_t * firevision::ScanlineGrid::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 134 of file grid.cpp.

point_t * firevision::ScanlineGrid::operator-> ( )

virtual

Get pointer to current point.

Returns:: pointer to current point

See also:: operator*()

Implements firevision::ScanlineModel.

Definition at line 75 of file grid.cpp.

void firevision::ScanlineGrid::reset ( )

virtual

Reset model.

Resets the set of processed points.

Implements firevision::ScanlineModel.

Definition at line 148 of file grid.cpp.

void firevision::ScanlineGrid::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 178 of file grid.cpp.

void firevision::ScanlineGrid::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 171 of file grid.cpp.

void firevision::ScanlineGrid::set_roi ( ROI * roi = NULL )

virtual

Set the region-of-interest.

If not NULL the scanlines gets only calculated within the ROI

Parameters:

roi	the region where scanlines should be calculated

Reimplemented from firevision::ScanlineModel.

Definition at line 184 of file grid.cpp.

References firevision::ROI::height, firevision::ROI::image_height, firevision::ROI::image_width, firevision::ROI::start, firevision::ROI::width, fawkes::point_t::x, and fawkes::point_t::y.

void firevision::ScanlineGrid::setDimensions	(	unsigned int	width,
		unsigned int	height,
		ROI *	roi = `NULL`
	)

Set dimensions.

Set width and height of scanline grid. Implicitly resets the grid.

Parameters:

width	width
height	height
roi	the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid!

Definition at line 212 of file grid.cpp.

void firevision::ScanlineGrid::setGridParams	(	unsigned int	width,
		unsigned int	height,
		unsigned int	offset_x,
		unsigned int	offset_y,
		ROI *	roi = `NULL`,
		bool	horizontal_grid = `true`
	)

Set all grid parameters.

Set width, height, X and Y offset by which the pointer in the grid is advanced. Implicitly resets the grid.

Parameters:

width	width
height	height
offset_x	offset_x
offset_y	offset_y
roi	the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid!
horizontal_grid	if true x will be increased before y

Definition at line 249 of file grid.cpp.

void firevision::ScanlineGrid::setOffset	(	unsigned int	offset_x,
		unsigned int	offset_y
	)

Set offset.

Set X and Y offset by which the pointer in the grid is advanced. Implicitly resets the grid.

Parameters:

offset_x	offset_x
offset_y	offset_y

Definition at line 227 of file grid.cpp.

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

src/libs/fvmodels/scanlines/grid.h
src/libs/fvmodels/scanlines/grid.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation