#include <models/scanlines/grid.h>
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. |
A grid as scanline points. The crossings of the lines are the scanline points.
Definition at line 36 of file grid.h.
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.
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). The object will be deleted by ScanlineGrid! | |
horizontal_grid | if true x will be increased before y |
Definition at line 52 of file grid.cpp.
References setGridParams().
firevision::ScanlineGrid::~ScanlineGrid | ( | ) | [virtual] |
bool firevision::ScanlineGrid::finished | ( | ) | [virtual] |
Check if all desired points have been processed.
Implements firevision::ScanlineModel.
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.
Implements firevision::ScanlineModel.
const char * firevision::ScanlineGrid::get_name | ( | ) | [virtual] |
point_t firevision::ScanlineGrid::operator * | ( | ) | [virtual] |
Get the current coordinate.
Implements firevision::ScanlineModel.
point_t * firevision::ScanlineGrid::operator++ | ( | int | ) | [virtual] |
Prefix ++ operator.
Advances to the next point but returns the old point.
Implements firevision::ScanlineModel.
point_t * firevision::ScanlineGrid::operator++ | ( | ) | [virtual] |
Postfix ++ operator.
Advances to the next point and returns the new point.
Implements firevision::ScanlineModel.
point_t * firevision::ScanlineGrid::operator-> | ( | ) | [virtual] |
Get pointer to current point.
Implements firevision::ScanlineModel.
void firevision::ScanlineGrid::reset | ( | ) | [virtual] |
Reset model.
Resets the set of processed points.
Implements firevision::ScanlineModel.
Definition at line 153 of file grid.cpp.
References firevision::ROI::start, fawkes::point_t::x, and fawkes::point_t::y.
Referenced by set_roi(), and setOffset().
void firevision::ScanlineGrid::set_pan_tilt | ( | float | pan, | |
float | tilt | |||
) | [virtual] |
Set camera's pan/tilt values.
pan | camera's current pan | |
tilt | camera's current tilt |
Implements firevision::ScanlineModel.
void firevision::ScanlineGrid::set_robot_pose | ( | float | x, | |
float | y, | |||
float | ori | |||
) | [virtual] |
Set the robot's pose.
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.
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
roi | the region where scanlines should be calculated |
Reimplemented from firevision::ScanlineModel.
Definition at line 189 of file grid.cpp.
References firevision::ROI::height, firevision::ROI::image_height, firevision::ROI::image_width, reset(), firevision::ROI::start, firevision::ROI::width, fawkes::point_t::x, and fawkes::point_t::y.
Referenced by setDimensions().
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.
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 219 of file grid.cpp.
References set_roi().
Referenced by setGridParams().
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.
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 256 of file grid.cpp.
References setDimensions(), and setOffset().
Referenced by ScanlineGrid().
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.
offset_x | offset_x | |
offset_y | offset_y |
Definition at line 234 of file grid.cpp.
References reset().
Referenced by setGridParams().