Radial scanlines. More...

#include <>>

Inheritance diagram for firevision::ScanlineRadial:

Public Member Functions
	ScanlineRadial (unsigned int width, unsigned int height, unsigned int center_x, unsigned int center_y, unsigned int radius_increment, unsigned int step, unsigned int max_radius=0, unsigned int dead_radius=0)
	Constructor.
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.
void	set_center (unsigned int center_x, unsigned int center_y)
	Set new center point.
void	set_radius (unsigned int dead_radius, unsigned int max_radius)
	Set new radius.
Public Member Functions inherited from firevision::ScanlineModel
virtual	~ScanlineModel ()
	Virtual empty destructor.
virtual void	set_roi (ROI *roi=NULL)
	Set the region-of-interest.

Detailed Description

Radial scanlines.

Uses circles to generate scanline points. A dead radius is ignored in the center of the image (for example for the camera itself in an omni-vision system). From there circles are used in radius_increment distances. On each circle points are generated in a distance of about step pixels. This is done up to a given maximum radius. If no maximum radius is supplied (max_radius=0) it is automatically calculated depending on the image size.

Definition at line 35 of file radial.h.

Constructor & Destructor Documentation

firevision::ScanlineRadial::ScanlineRadial	(	unsigned int	width,
		unsigned int	height,
		unsigned int	center_x,
		unsigned int	center_y,
		unsigned int	radius_increment,
		unsigned int	step,
		unsigned int	max_radius = `0`,
		unsigned int	dead_radius = `0`
	)

Constructor.

Parameters:

width	image width
height	image height
center_x	radial center center x
center_y	radial center center y
radius_increment	radius increment
step	step
max_radius	maximum radius, if set to 0 will be calculated automatically depending on the image dimensions.
dead_radius	inner radius to ignore

Definition at line 59 of file radial.cpp.

Member Function Documentation

bool firevision::ScanlineRadial::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 213 of file radial.cpp.

unsigned int firevision::ScanlineRadial::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 294 of file radial.cpp.

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

virtual

Get name of scanline model.

Returns:: name of scanline model.

Implements firevision::ScanlineModel.

Definition at line 287 of file radial.cpp.

point_t firevision::ScanlineRadial::operator* ( )

virtual

Get the current coordinate.

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

Implements firevision::ScanlineModel.

Definition at line 80 of file radial.cpp.

point_t * firevision::ScanlineRadial::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 92 of file radial.cpp.

References fawkes::point_t::x.

point_t * firevision::ScanlineRadial::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 206 of file radial.cpp.

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

virtual

Get pointer to current point.

Returns:: pointer to current point

See also:: operator*()

Implements firevision::ScanlineModel.

Definition at line 86 of file radial.cpp.

void firevision::ScanlineRadial::reset ( )

virtual

Reset model.

Resets the set of processed points.

Implements firevision::ScanlineModel.

Definition at line 245 of file radial.cpp.

void firevision::ScanlineRadial::set_center	(	unsigned int	center_x,
		unsigned int	center_y
	)

Set new center point.

Sets new center point to move around the scanlines in the image. Does an implicit reset().

Parameters:

center_x	x coordinate of the new center
center_y	y coordinate of the new center

Definition at line 307 of file radial.cpp.

virtual void firevision::ScanlineRadial::set_pan_tilt	(	float	pan,
		float	tilt
	)

inlinevirtual

Set camera's pan/tilt values.

Parameters:

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

Implements firevision::ScanlineModel.

Definition at line 57 of file radial.h.

void firevision::ScanlineRadial::set_radius	(	unsigned int	dead_radius,
		unsigned int	max_radius
	)

Set new radius.

Sets the new maximum and dead radius. Does an implicit reset().

Parameters:

dead_radius	new dead radius
max_radius	new maximum radius, if set to 0 this is automatically calculated depending on the image size.

Definition at line 322 of file radial.cpp.

virtual void firevision::ScanlineRadial::set_robot_pose	(	float	x,
		float	y,
		float	ori
	)

inlinevirtual

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 56 of file radial.h.

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

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation