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#include <Vision.h>
Public Member Functions | |
Vision () | |
~Vision () | |
int | setThreshold (int threshold_id) |
const vector3d & | get_camera_loc () |
const vector3d & | get_camera_dir () |
int | getColor (int x, int y) |
int | getWidth () |
int | getHeight () |
void | initialize () |
void | setCameraParam () |
void | initializeEventSpecs () |
void | enableEvents (int vevent) |
void | enableEvents (int vevent, int noise) |
void | disableEvents (int vevent) |
void | setNoiseThreshold (int vevent, int noise) |
bool | close () |
bool | processFrame (const uchar *data_y, const uchar *data_u, const uchar *data_v, int width, int height) |
bool | saveThresholdImage (char *filename) |
void | sendRawImage () |
void | sendRLEImage () |
void | sendColorArea () |
Public Attributes | |
unsigned long | frameTimestamp |
int | frame_count |
int | num_tmaps |
int | cur_tmap |
cmap_t * | cmap |
cmap_t * | tmap [MAX_TMAPS] |
run * | rmap |
run * | rmap2 |
region * | reg |
int | yindex [144] |
VisionObjectInfo | vobj_info [NUM_VISION_OBJECTS] |
VisionEventSpec | vevent_spec [NUM_VEVENTS] |
color_class_state | color [MAX_COLORS] |
int | width |
int | height |
int | max_width |
int | max_height |
int | max_runs |
int | max_regions |
int | num_colors |
int | num_runs |
int | num_regions |
double | body_angle |
double | body_height |
double | head_angles [3] |
vector3d | camera_loc |
vector3d | camera_dir |
vector3d | camera_up |
vector3d | camera_right |
double | sq_distort_coeff |
double | lin_distort_coeff |
bool | calcTotalArea |
Marker | markers [3] |
int | vis_markers |
ObjectInfo * | obj_info |
Private Member Functions | |
bool | thresholdImage (CMVision::image_idx< rgb > &img) |
bool | thresholdImage (CMVision::image_yuv< const uchar > &img) |
template<class image> bool | runLowLevelVision (image &img) |
int | getColorUnsafe (int x, int y) |
int | getNearColor (int x, int y) |
int | addToHistHorizStrip (int y, int x1, int x2, int *color_cnt) |
int | addToHistVertStrip (int x, int y1, int y2, int *color_cnt) |
void | createEvent (unsigned int tid, unsigned int sid, float cenX, float cenY) |
vector3d | getPixelDirection (double x, double y) |
void | findSpan (double &left, double &right, double x1, double x2, double y1, double y2) |
int | calcEdgeMask (double x1, double x2, double y1, double y2) |
int | calcEdgeMask (int x1, int x2, int y1, int y2) |
int | calcEdgeMask (region *tmpreg) |
int | isIn (region *r1, region *r2) |
int | isAdjacent (region *r1, region *r2) |
bool | findHand (VObject *hand, VisionObjectInfo *hand_info) |
bool | findBall (int ball_color, VObject *ball, VisionObjectInfo *ball_info) |
bool | findThing (VObject *thing, VisionObjectInfo *thing_info) |
bool | findMarkers () |
bool | findGesture (VisionObjectInfo *hand_info) |
int | identifyMarker (int color1, int color2, int color3) |
bool | generateEvent (int vevent, double conf, int cenX, int cenY) |
bool | runHighLevelVision (ObjectInfo *obj_info) |
Vision (const Vision &) | |
don't copy | |
Vision | operator= (const Vision &) |
don't assign | |
Private Attributes | |
int | outCountAvgColor |
int | outCountColorArea |
int | outCountRaw |
int | outCountRLE |
VisionSerializer * | vser |
CMVision::image_yuv< const uchar > | img |
Friends | |
class | VisionSerializer |
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Definition at line 23 of file Vision.cc. References initialize(), setCameraParam(), VisionSerializer, and vser. |
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don't copy
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Definition at line 314 of file Vision.cc. References bound(), getColorUnsafe(), height, and width. |
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Definition at line 329 of file Vision.cc. References bound(), getColorUnsafe(), height, and width. |
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Definition at line 199 of file Vision.h. References calcEdgeMask(). |
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Definition at line 299 of file Vision.cc. References height, VisionInterface::OFF_EDGE_BOTTOM, VisionInterface::OFF_EDGE_LEFT, VisionInterface::OFF_EDGE_RIGHT, VisionInterface::OFF_EDGE_TOP, and width. |
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Definition at line 267 of file Vision.cc. References cmap, max_height, max_width, num_tmaps, reg, rmap, and tmap. |
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Definition at line 821 of file Vision.cc. References erouter, EventBase::EventTypeID_t, and EventRouter::postEvent(). |
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Definition at line 221 of file Vision.cc. References VisionEventSpec::listeners, and vevent_spec. |
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Definition at line 216 of file Vision.cc. References enableEvents(), and setNoiseThreshold(). |
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Definition at line 212 of file Vision.cc. References VisionEventSpec::listeners, and vevent_spec. |
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Definition at line 380 of file Vision.cc. References addToHistHorizStrip(), addToHistVertStrip(), bound(), calcEdgeMask(), color, COLOR_BLUE, color_class_state, COLOR_GREEN, COLOR_PINK, COLOR_RED, gaussian_with_min(), generateEvent(), height, MAX_COLORS, pct_from_mean(), VisionEventNS::PinkBallSID, VisionEventNS::RedBallSID, VisionObjectInfo::reg, region, vevent_spec, and width. |
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Definition at line 779 of file Vision.cc. References generateEvent(), mathutils::limitRange(), num_runs, VisionObjectInfo::reg, rmap, VisionEventNS::ThumbsupSID, and vevent_spec. |
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Definition at line 344 of file Vision.cc. References color, color_class_state, COLOR_SKIN, generateEvent(), VisionEventNS::HandSID, VisionObjectInfo::reg, region, and vevent_spec. |
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Definition at line 660 of file Vision.cc. References color, COLOR_BGREEN, COLOR_ORANGE, COLOR_PURPLE, erouter, identifyMarker(), isAdjacent(), markers, VisionEventNS::MarkersSID, EventRouter::postEvent(), region, VisionEvent::setProperty(), EventBase::statusETID, vevent_spec, and vis_markers. |
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Definition at line 600 of file Vision.cc. References generateEvent(), VisionObjectInfo::reg, VisionEventNS::ThingSID, and vevent_spec. |
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Definition at line 230 of file Vision.cc. References EventBase::activateETID, VisionEventSpec::confidence, createEvent(), EventBase::deactivateETID, EventBase::statusETID, and vevent_spec. |
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Definition at line 134 of file Vision.h. References camera_dir. |
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Definition at line 133 of file Vision.h. References camera_loc. |
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Definition at line 135 of file Vision.h. References cmap, COLOR_BACKGROUND, height, and width. |
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Definition at line 139 of file Vision.h. References height. |
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Definition at line 138 of file Vision.h. References width. |
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Definition at line 63 of file Vision.cc. References bits_u, bits_v, bits_y, body_angle, body_height, cmap, cmap_t, color, Config::vision_config::colors, config, cur_tmap, frame_count, frameTimestamp, head_angles, height, initializeEventSpecs(), MAX_COLORS, max_height, max_regions, max_runs, max_width, MIN_EXP_REGION_SIZE, MIN_EXP_RUN_LENGTH, NewLarge(), num_colors, num_tmaps, obj_info, reg, Config::vision_config::resolution, rmap, rmap2, Config::vision_config::thresh, tmap, Config::vision, and width. |
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don't assign
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Definition at line 982 of file Vision.cc. References frame_count, frameTimestamp, get_time(), img, obj_info, runHighLevelVision(), runLowLevelVision(), VisionSerializer::serialize(), and vser. |
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Definition at line 828 of file Vision.cc. References COLOR_PINK, COLOR_RED, findBall(), findGesture(), findHand(), findMarkers(), VisionInterface::HAND, isIn(), VisionInterface::NUM_VISION_OBJECTS, VisionInterface::PBALL, VisionInterface::RBALL, reg, VisionObjectInfo::reg, and vobj_info. |
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Definition at line 877 of file Vision.cc. References cmap, color, height, max_regions, max_runs, num_colors, num_regions, num_runs, reg, rmap, rmap2, thresholdImage(), and width. |
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Definition at line 1030 of file Vision.cc. References cmap, color, height, num_colors, width, and WritePPM(). |
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Definition at line 30 of file Vision.cc. References config, Config::vision_config::gain, Config::vision_config::shutter_speed, Config::vision, and Config::vision_config::white_balance. |
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Definition at line 226 of file Vision.cc. References VisionEventSpec::filter, and vevent_spec. |
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Definition at line 860 of file Vision.cc. References bits_u, bits_v, bits_y, cmap, cur_tmap, and tmap. |
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Definition at line 845 of file Vision.cc. References cmap, color, height, MAX_COLORS, and width. |
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Generated Sat Jul 19 00:09:14 2003 by Doxygen 1.3.2 |