vision.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef _Vision_h_DEFINED
#define _Vision_h_DEFINED

#include <OPENR/OPENR.h>
#include <OPENR/OPENRAPI.h>
#include <OPENR/OObject.h>
#include <OPENR/OSubject.h>
#include <OPENR/OObserver.h>
#include <OPENR/OFbkImage.h>
#include "ObjectRecognition.h"
#include "EdgeRecognition.h"
#include "ObstructionModel.h"
#include "EllipseFitting.h"
#include "RobotRecognition.h"
#include "../Common/Common.h"


class Vision {
  public:
    Vision();
    bool ProcessFrame(unsigned char*);
    void SaveImages(OFbkImageVectorData*);
    void LoadParameters(char* parameterFile);

    uchar* GetClassified() { return visionData.classified_; };
    uchar* GetUnclassified() { return visionData.unclassified_; };

  private:
    void Vision::ColourClassifier(bool doubleRes, uchar* lutable);
    void LoadLut(char*, uchar*);
    uchar* lut_;
    uchar* lutTight_;
    uchar* lutDown_;

    bool isSavingImages;
    bool isSavingBMPImages;
    int imageSaveCounter;

    VisionData visionData;

    ObjectRecognition objectRecognition_;
    EdgeRecognition edgeRecognition_;
    ObstructionModel obstructionModel_;
    RobotRecognition robotRecognition_;
};

#endif