Wraps an image so that access to (0, 0) is mapped to the middle of the image and so on. More...

Public Member Functions
	CartesianImage (const StepResult &res, PolarAngle phi, PixelPoint center, const unsigned char *mask=0)
	Constructor. More...

	CartesianImage (const StepResult &res, PolarAngle phi, const unsigned char *mask=0)
	Constructor. More...

	CartesianImage (const unsigned char *buf, int width, int height, PolarAngle phi, const PixelPoint &center)
	Constructor. More...

	CartesianImage (unsigned char *buf, int width, int height, PolarAngle phi, const PixelPoint &center)
	Constructor. More...

	CartesianImage (const unsigned char *buf, int width, int height, PolarAngle phi)
	Constructor. More...

	CartesianImage (unsigned char *buf, int width, int height, PolarAngle phi)
	Constructor. More...

unsigned char *	buf ()
	Get Buffer. More...

const unsigned char *	mask () const
	Mask. More...

const unsigned char *	buf () const
	Buffer. More...

const PixelPoint &	center () const
	Center of buffer. More...

int	width () const
	Width of buffer. More...

int	height () const
	Height of buffer. More...

PolarAngle	phi () const
	Phi angle. More...

PixelPoint	to_pixel (const CartesianPoint &p) const
	Converts a cartesian point to a pixel point. More...

CartesianPoint	to_cartesian (const PixelPoint &p) const
	Converts a pixel point to a cartesian point. More...

bool	contains (const PixelPoint &p) const
	Indicates whether the image contains a pixel point. More...

bool	contains (const CartesianPoint &p) const
	Indicates whether the image contains a cartesian point. More...

unsigned char	get (const CartesianPoint &p) const
	Get luminance at a given point. More...

int	max_x () const
	Get Maximum cartesian X coordinate of the image. More...

int	max_y () const
	Get Maximum cartesian Y coordinate of the image. More...

PolarRadius	max_radius () const
	Maximum polar radius of the image. More...

void	set_color (const PixelPoint &p, unsigned char luma, unsigned char chrominance)
	Sets the luminance Y and chrominance U at a given pixel point. More...

void	set_color (const CartesianPoint &p, unsigned char luma, unsigned char chrominance)
	Sets the luminance Y and chrominance U at a given cartesian point. More...

float	bright_fraction (const CartesianPoint &from, const CartesianPoint &to) const
	Get relative amount of bright pixels. More...

bool	is_line (const CartesianPoint &p, int length) const
	Indicates whether at pixel point p there is a highlighted line. More...

void	highlight_line (const CartesianPoint &p, int length)
	Highlightes a line at pixel point p. More...

void	draw_line (const PixelPoint &p, const PixelPoint &q)
	Draws a line from p to q. More...

void	draw_line (const CartesianPoint &p, const CartesianPoint &q)
	Draws a line from p to q. More...

void	highlight_pixel (const PixelPoint &p)
	Highlights a pixel, i.e. More...

void	highlight_point (const CartesianPoint &p)
	Highlights a point, i.e. More...

Detailed Description

Wraps an image so that access to (0, 0) is mapped to the middle of the image and so on.

The result is a cartesian coordinate system with X and Y axis.

Definition at line 337 of file mirror_calib.cpp.

Constructor & Destructor Documentation

◆ CartesianImage() [1/6]

firevision::MirrorCalibTool::CartesianImage::CartesianImage	(	const StepResult &	res,
		PolarAngle	phi,
		PixelPoint	center,
		const unsigned char *	mask = `0`
	)

inline

Constructor.

Parameters

res	The step result that contains the base image.
phi	The angle by which the image is rotated counter-clockwise.
center	The center of the image from the robot's point of view; i.e. the center of the cone mirror.
mask	The mask that indicates which pixels should be ignored.

Definition at line 354 of file mirror_calib.cpp.

◆ CartesianImage() [2/6]

firevision::MirrorCalibTool::CartesianImage::CartesianImage	(	const StepResult &	res,
		PolarAngle	phi,
		const unsigned char *	mask = `0`
	)

inline

Constructor.

Parameters

res	The step result that contains the base image.
phi	The angle by which the image is rotated counter-clockwise.
mask	The mask that indicates which pixels should be ignored.

Definition at line 371 of file mirror_calib.cpp.

◆ CartesianImage() [3/6]

firevision::MirrorCalibTool::CartesianImage::CartesianImage	(	const unsigned char *	buf,
		int	width,
		int	height,
		PolarAngle	phi,
		const PixelPoint &	center
	)

inline

Constructor.

Parameters

buf	The base YUV buffer.
width	Image width.
height	Image height.
phi	The angle by which the image is rotated counter-clockwise.
center	The center of the image from the robot's point of view; i.e. the center of the cone mirror.

Definition at line 388 of file mirror_calib.cpp.

◆ CartesianImage() [4/6]

firevision::MirrorCalibTool::CartesianImage::CartesianImage	(	unsigned char *	buf,
		int	width,
		int	height,
		PolarAngle	phi,
		const PixelPoint &	center
	)

inline

Constructor.

Parameters

buf	The base YUV buffer.
width	Image width.
height	Image height.
phi	The angle by which the image is rotated counter-clockwise.
center	The center of the image from the robot's point of view; i.e. the center of the cone mirror.

Definition at line 409 of file mirror_calib.cpp.

◆ CartesianImage() [5/6]

firevision::MirrorCalibTool::CartesianImage::CartesianImage	(	const unsigned char *	buf,
		int	width,
		int	height,
		PolarAngle	phi
	)

inline

Constructor.

Parameters

buf	The base YUV buffer.
width	Image width.
height	Image height.
phi	The angle by which the image is rotated counter-clockwise.

Definition at line 423 of file mirror_calib.cpp.

◆ CartesianImage() [6/6]

firevision::MirrorCalibTool::CartesianImage::CartesianImage	(	unsigned char *	buf,
		int	width,
		int	height,
		PolarAngle	phi
	)

inline

Constructor.

Parameters

buf	The base YUV buffer.
width	Image width.
height	Image height.
phi	The angle by which the image is rotated counter-clockwise.

Definition at line 438 of file mirror_calib.cpp.

Member Function Documentation

◆ bright_fraction()

float firevision::MirrorCalibTool::CartesianImage::bright_fraction	(	const CartesianPoint &	from,
		const CartesianPoint &	to
	)		const

inline

Get relative amount of bright pixels.

Parameters

from	One point of the rectangle.
to	Opposite point of the rectangle.

Returns: relative amount of BRIGHT pixels in the rectangle denoted by the bottom-left (x1, y1) and the top-right (x2, y2).

Definition at line 627 of file mirror_calib.cpp.

References fawkes::contains(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

◆ buf() [1/2]

unsigned char* firevision::MirrorCalibTool::CartesianImage::buf ( )

inline

Get Buffer.

Returns: buffer

Definition at line 452 of file mirror_calib.cpp.

◆ buf() [2/2]

const unsigned char* firevision::MirrorCalibTool::CartesianImage::buf ( ) const

inline

Buffer.

Returns: const buffer

Definition at line 468 of file mirror_calib.cpp.

◆ center()

const PixelPoint& firevision::MirrorCalibTool::CartesianImage::center ( ) const

inline

Center of buffer.

Returns: center point of buffer

Definition at line 476 of file mirror_calib.cpp.

◆ contains() [1/2]

bool firevision::MirrorCalibTool::CartesianImage::contains ( const CartesianPoint & p ) const

inline

Indicates whether the image contains a cartesian point.

Parameters

p	The point.

Returns: true if cartesian point is in image, false otherwise

Definition at line 542 of file mirror_calib.cpp.

References fawkes::contains().

◆ contains() [2/2]

bool firevision::MirrorCalibTool::CartesianImage::contains ( const PixelPoint & p ) const

inline

Indicates whether the image contains a pixel point.

Parameters

p	The point.

Returns: true if pixel point is in image, false otherwise

Definition at line 532 of file mirror_calib.cpp.

References firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

Referenced by firevision::MirrorCalibTool::draw_crosshair(), firevision::MirrorCalibTool::draw_line(), and firevision::MirrorCalibTool::draw_mark_lines().

◆ draw_line() [1/2]

void firevision::MirrorCalibTool::CartesianImage::draw_line	(	const CartesianPoint &	p,
		const CartesianPoint &	q
	)

inline

Draws a line from p to q.

Parameters

p	First point of the line.
q	First point of the line.

Definition at line 693 of file mirror_calib.cpp.

References firevision::MirrorCalibTool::Point::atan(), fawkes::contains(), firevision::MirrorCalibTool::Point::length(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

◆ draw_line() [2/2]

void firevision::MirrorCalibTool::CartesianImage::draw_line	(	const PixelPoint &	p,
		const PixelPoint &	q
	)

inline

Draws a line from p to q.

Parameters

p	First point of the line.
q	First point of the line.

Definition at line 684 of file mirror_calib.cpp.

◆ get()

unsigned char firevision::MirrorCalibTool::CartesianImage::get ( const CartesianPoint & p ) const

inline

Get luminance at a given point.

Parameters

p	The point.

Returns: luminance at given point

Definition at line 552 of file mirror_calib.cpp.

References fawkes::contains(), firevision::YUV_t_struct::U, firevision::YUV_t_struct::V, firevision::MirrorCalibTool::Point::x, firevision::MirrorCalibTool::Point::y, and firevision::YUV_t_struct::Y.

◆ height()

int firevision::MirrorCalibTool::CartesianImage::height ( ) const

inline

Height of buffer.

Returns: height of buffer

Definition at line 492 of file mirror_calib.cpp.

◆ highlight_line()

void firevision::MirrorCalibTool::CartesianImage::highlight_line	(	const CartesianPoint &	p,
		int	length
	)

inline

Highlightes a line at pixel point p.

Parameters

p	The center point of the line.
length	The length of the line.

Definition at line 672 of file mirror_calib.cpp.

References firevision::MirrorCalibTool::Point::atan(), fawkes::deg2rad(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

◆ highlight_pixel()

void firevision::MirrorCalibTool::CartesianImage::highlight_pixel ( const PixelPoint & p )

inline

Highlights a pixel, i.e.

sets the luminance and chrominance to MARK_LUMA and MARK_CHROMINANCE.

Parameters

p	The pixel.

Definition at line 709 of file mirror_calib.cpp.

References fawkes::contains(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

Referenced by firevision::MirrorCalibTool::next_step().

◆ highlight_point()

void firevision::MirrorCalibTool::CartesianImage::highlight_point ( const CartesianPoint & p )

inline

Highlights a point, i.e.

sets the luminance and chrominance to MARK_LUMA and MARK_CHROMINANCE.

Parameters

p	The point.

Definition at line 726 of file mirror_calib.cpp.

References fawkes::contains(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

Referenced by firevision::MirrorCalibTool::next_step().

◆ is_line()

bool firevision::MirrorCalibTool::CartesianImage::is_line	(	const CartesianPoint &	p,
		int	length
	)		const

inline

Indicates whether at pixel point p there is a highlighted line.

Parameters

p	The assumed center point of the line.
length	The length of the line

Returns: true if pixel belongs to line, false otherwise

Definition at line 655 of file mirror_calib.cpp.

References firevision::MirrorCalibTool::Point::atan(), fawkes::deg2rad(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

◆ mask()

const unsigned char* firevision::MirrorCalibTool::CartesianImage::mask ( ) const

inline

Mask.

Returns: mask

Definition at line 460 of file mirror_calib.cpp.

◆ max_radius()

PolarRadius firevision::MirrorCalibTool::CartesianImage::max_radius ( ) const

inline

Maximum polar radius of the image.

Returns: Maximum polar radius of the image.

Definition at line 592 of file mirror_calib.cpp.

Referenced by firevision::MirrorCalibTool::draw_crosshair(), firevision::MirrorCalibTool::draw_line(), and firevision::MirrorCalibTool::draw_mark_lines().

◆ max_x()

int firevision::MirrorCalibTool::CartesianImage::max_x ( ) const

inline

Get Maximum cartesian X coordinate of the image.

Returns: Maximum cartesian X coordinate of the image.

Definition at line 576 of file mirror_calib.cpp.

◆ max_y()

int firevision::MirrorCalibTool::CartesianImage::max_y ( ) const

inline

Get Maximum cartesian Y coordinate of the image.

Returns: Maximum cartesian Y coordinate of the image.

Definition at line 584 of file mirror_calib.cpp.

◆ phi()

PolarAngle firevision::MirrorCalibTool::CartesianImage::phi ( ) const

inline

Phi angle.

Returns: Phi angle

Definition at line 500 of file mirror_calib.cpp.

◆ set_color() [1/2]

void firevision::MirrorCalibTool::CartesianImage::set_color	(	const CartesianPoint &	p,
		unsigned char	luma,
		unsigned char	chrominance
	)

inline

Sets the luminance Y and chrominance U at a given cartesian point.

Parameters

p	The point whose luminance Y and chrominance U is changed.
luma	The luminance Y.
chrominance	The chrominance U.

Definition at line 616 of file mirror_calib.cpp.

◆ set_color() [2/2]

void firevision::MirrorCalibTool::CartesianImage::set_color	(	const PixelPoint &	p,
		unsigned char	luma,
		unsigned char	chrominance
	)

inline

Sets the luminance Y and chrominance U at a given pixel point.

Parameters

p	The point whose luminance Y and chrominance U is changed.
luma	The luminance Y.
chrominance	The chrominance U.

Definition at line 602 of file mirror_calib.cpp.

References fawkes::contains(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

Referenced by firevision::MirrorCalibTool::draw_crosshair(), firevision::MirrorCalibTool::draw_line(), and firevision::MirrorCalibTool::draw_mark_lines().

◆ to_cartesian()

CartesianPoint firevision::MirrorCalibTool::CartesianImage::to_cartesian ( const PixelPoint & p ) const

inline

Converts a pixel point to a cartesian point.

Parameters

p	The point.

Returns: converted point

Definition at line 521 of file mirror_calib.cpp.

References firevision::MirrorCalibTool::CartesianPoint::rotate(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

◆ to_pixel()

PixelPoint firevision::MirrorCalibTool::CartesianImage::to_pixel ( const CartesianPoint & p ) const

inline

Converts a cartesian point to a pixel point.

Parameters

p	The point.

Returns: converted point

Definition at line 510 of file mirror_calib.cpp.

References firevision::MirrorCalibTool::CartesianPoint::rotate(), firevision::MirrorCalibTool::Point::x, and firevision::MirrorCalibTool::Point::y.

Referenced by firevision::MirrorCalibTool::next_step().

◆ width()

int firevision::MirrorCalibTool::CartesianImage::width ( ) const

inline

Width of buffer.

Returns: width of buffer

Definition at line 484 of file mirror_calib.cpp.

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

src/libs/fvmodels/mirror/mirror_calib.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CartesianImage() [1/6]

◆ CartesianImage() [2/6]

◆ CartesianImage() [3/6]

◆ CartesianImage() [4/6]

◆ CartesianImage() [5/6]

◆ CartesianImage() [6/6]

Member Function Documentation

◆ bright_fraction()

◆ buf() [1/2]

◆ buf() [2/2]

◆ center()

◆ contains() [1/2]

◆ contains() [2/2]

◆ draw_line() [1/2]

◆ draw_line() [2/2]

◆ get()

◆ height()

◆ highlight_line()

◆ highlight_pixel()

◆ highlight_point()

◆ is_line()

◆ mask()

◆ max_radius()

◆ max_x()

◆ max_y()

◆ phi()

◆ set_color() [1/2]

◆ set_color() [2/2]

◆ to_cartesian()

◆ to_pixel()

◆ width()