robotrecognition.h

该文件是包含了机器人足球比赛中的整个系统的代码

// File: RobotRecognition.h
// Date: 20/08/03


#ifndef _RobotRecognition_h_DEFINED
#define _RobotRecognition_h_DEFINED

#include "VisionData.h"
#include "../Common/VisionObject.h"
#include "../Common/Common.h"

#define MIN_BLUE_ROBOT_SIZE 30 // Defines the minimum sizes of a red or blue robot blob    
#define MIN_RED_ROBOT_SIZE  30 
#define HORIZON_ADJUSTMENT 20 // Adjusts the hozion up by a constant value such that robot blobs which shouldn't necessarily be exluded are kept i n the image
#define MIN_BLOB_AREA 5

class RobotRecognition {

public:
  RobotRecognition();
  void FindRobot(VisionData* vd);
  
  VisionObject* redRobots_;
  VisionObject* blueRobots_;
  Blob* redRobotBlobs_;
  Blob* blueRobotBlobs_;
  int numRedRobots_;
  int numBlueRobots_;
  VisionData* visionData_;
  int sortedBlobs_;

  void FindRobotWork(Colour c_ROBOT_COLOUR, VisionObject* robots, Blob* robotBlobs, int* numRobots);
  void FindColourRobot(Colour c_COLOUR_ROBOT, VisionObject* robots, Blob* robotBlobs, int* numRobots);
  void RobotNoiseFilter(const Colour c_ROBOT_COLOUR);
  void RotateBlobs(Colour c_ROBOT_COLOUR, double effHeadRoll);
  void UnrotateBlobs(Blob* blob, double effHeadRoll);
  void QuickSort(Colour c_COLOUR_ROBOT);
  void OrderMin(Blob* blobArray, int lowerStart, int higherStart);

};

#endif