/* *  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