Fawkes API Fawkes Development Version
scanlinemodel.h
1
2/***************************************************************************
3 * scanlinemodel.h - Abstract class defining a scanline model
4 *
5 * Created: Tue May 03 19:50:02 2005
6 * Copyright 2005-2007 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#ifndef _FIREVISION_MODELS_SCANLINES_SCANLINEMODEL_H_
25#define _FIREVISION_MODELS_SCANLINES_SCANLINEMODEL_H_
26
27/* IMPORTANT IMPLEMENTATION NOTE:
28 * Do _not_ split this into a .h and .cpp file. This interface is used in fvutils.
29 * The only way to allows this circular dependency is to have this as a plain
30 * header that does not require any linking. Thus you may not split the file.
31 */
32
33#include <core/exceptions/software.h>
34#include <fvutils/base/roi.h>
35#include <fvutils/base/types.h>
36
37#include <string>
38
39namespace firevision {
40
41/** @class ScanlineModel <fvmodels/scanlines/scanlinemodel.h>
42 * Scanline model interface.
43 * This interface defines the API for the scanline model. A scanline model
44 * determines a specific set of points in the image that should be used for image
45 * evaluation if using all the pixels of an image would take too long.
46 * This is one of the major optimizations throughout FireVision to ensure high
47 * speed image processing.
48 *
49 * @author Tim Niemueller
50 */
51
53{
54public:
55 /** Virtual empty destructor. */
57 {
58 }
59
60 /** Get the current coordinate.
61 * @return current point in image that is shall be processed.
62 */
64
65 /** Get pointer to current point.
66 * @return pointer to current point
67 * @see operator*()
68 */
70
71 /** Postfix ++ operator.
72 * Advances to the next point and returns the new point.
73 * @return pointer to new point
74 */
76
77 /** Prefix ++ operator.
78 * Advances to the next point but returns the old point.
79 * @return pointer to next point
80 */
81 virtual fawkes::upoint_t *operator++(int) = 0;
82
83 /** Check if all desired points have been processed.
84 * @return true if all pixels that the model defines have been iterated.
85 */
86 virtual bool finished() = 0;
87
88 /** Reset model.
89 * Resets the set of processed points.
90 */
91 virtual void reset() = 0;
92
93 /** Get name of scanline model.
94 * @return name of scanline model.
95 */
96 virtual const char *get_name() = 0;
97
98 /** Get margin around points.
99 * Models that do not use margins shall return zero.
100 * It shall be guaranteed that in this margin
101 * region around a point there is no other point that has been or will be
102 * returned in a full iteration.
103 * @return margin around a point.
104 */
105 virtual unsigned int get_margin() = 0;
106
107 /** Set the robot's pose.
108 * @param x robot's x coordinate on field in meters
109 * @param y robot's y coordinate on field in meters
110 * @param ori robot's orientation. Looking towards the opponent goal is zero
111 * rad, with positive values pointing to the right, negative to the left.
112 */
113 virtual void set_robot_pose(float x, float y, float ori) = 0;
114
115 /** Set camera's pan/tilt values.
116 * @param pan camera's current pan
117 * @param tilt camera's current tilt
118 */
119 virtual void set_pan_tilt(float pan, float tilt) = 0;
120
121 /** Set the region-of-interest.
122 * If not NULL the scanlines gets only calculated within the ROI
123 * @param roi the region where scanlines should be calculated
124 */
125 virtual void
126 set_roi(ROI *roi = NULL)
127 {
128 throw fawkes::NotImplementedException("Setting ROI is not implemented.");
129 }
130};
131
132} // end namespace firevision
133
134#endif
Called method has not been implemented.
Definition: software.h:105
Region of interest.
Definition: roi.h:55
Scanline model interface.
Definition: scanlinemodel.h:53
virtual ~ScanlineModel()
Virtual empty destructor.
Definition: scanlinemodel.h:56
virtual fawkes::upoint_t operator*()=0
Get the current coordinate.
virtual fawkes::upoint_t * operator++(int)=0
Prefix ++ operator.
virtual void set_robot_pose(float x, float y, float ori)=0
Set the robot's pose.
virtual void set_pan_tilt(float pan, float tilt)=0
Set camera's pan/tilt values.
virtual void reset()=0
Reset model.
virtual unsigned int get_margin()=0
Get margin around points.
virtual fawkes::upoint_t * operator->()=0
Get pointer to current point.
virtual bool finished()=0
Check if all desired points have been processed.
virtual fawkes::upoint_t * operator++()=0
Postfix ++ operator.
virtual void set_roi(ROI *roi=NULL)
Set the region-of-interest.
virtual const char * get_name()=0
Get name of scanline model.
Point with cartesian coordinates as unsigned integers.
Definition: types.h:35