?? visiondevice.hh
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/* * Stage : a multi-robot simulator. * Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * *//* * Desc: Device to simulate the ACTS vision system. * Author: Richard Vaughan, Andrew Howard * Date: 28 Nov 2000 * CVS info: $Id: visiondevice.hh,v 1.2 2002/11/01 19:12:32 rtv Exp $ */#ifndef VISIONDEVICE_HH#define VISIONDEVICE_HH#include "playerdevice.hh"// Forward declaration for ptz deviceclass CPtzDevice;#define MAXBLOBS 100 // PDOMA!typedef struct{ unsigned char channel; int area; int x, y; int left, top, right, bottom; int range; //mm} ColorBlob;class CVisionDevice : public CPlayerEntity{ // Default constructor public: CVisionDevice( LibraryItem *libit, CWorld *world, CPtzDevice *parent); // a static named constructor - a pointer to this function is given // to the Library object and paired with a string. When the string // is seen in the worldfile, this function is called to create an // instance of this entitypublic: static CVisionDevice* Creator( LibraryItem *libit, CWorld *world, CEntity *parent ) { return( new CVisionDevice( libit, world, (CPtzDevice*)parent ) ); } // Startup routine public: virtual bool Startup(); // Load the entity from the worldfile public: virtual bool Load(CWorldFile *worldfile, int section); // Update the device public: virtual void Update( double sim_time ); // Generate the scan-line image private: void UpdateScan(); // Generate ACTS data from scan-line image private: size_t UpdateACTS( player_blobfinder_data_t* data ); // Pointer to the ptz device we attach to (same as out parent private: CPtzDevice *m_ptz_device; // Current pan/tilt/zoom settings (all angles) private: double m_pan, m_tilt, m_zoom; // channel to color map array private: int channel_count; private: StageColor channels[PLAYER_BLOBFINDER_MAX_CHANNELS]; // Camera properties private: int cameraImageWidth, cameraImageHeight; private: double m_max_range; // Current scan-line data private: int m_scan_width; private: int m_scan_channel[256]; private: double m_scan_range[256]; // Detected blob data private: int numBlobs; private: ColorBlob blobs[MAXBLOBS]; //private: player_vision_data_t actsBuf;#ifdef INCLUDE_RTK2 // Initialise the rtk gui protected: virtual void RtkStartup(); // Finalise the rtk gui protected: virtual void RtkShutdown(); // Update the rtk gui protected: virtual void RtkUpdate(); // For drawing a little screen with blobs on private: rtk_fig_t *vision_fig;#endif};#endif
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