homebase.h

机器人程序

// Homebase.h - by Robin Hewitt, 2004-2005
// http://www.robinhewitt.com/mavis
// This is free software. See license at the bottom
// of this file for terms of use.
//

//////////////////////////////////////////////////////////////
// Contains definitions for
//     Homebase - Class that recognizes homebase,
//
//     HomebaseSighting - Represents a possible sighting of
//                 homebase. Helper class for Homebase.
//

#ifndef __OBJREC_HOMEBASE
#define __OBJREC_HOMEBASE


#include <windows.h>
#include "maviscomm.h"
#include "MVLib.h"
#include "MVObj.h"
#include <vector>

using namespace std;

class Mavis;
class YofXCurve;
class XofYCurve;
class CalibrationHelper;
class HomebaseSighting;


//////////////////////////////////////////////////////////////
//  Class: Homebase
//
class Homebase : public MVObjBase
{
public:
	virtual int lookOnce(ObjLoc_t * pObjLoc);
	virtual int getId() { return HOMEBASE_OBJ_ID; }

protected:
	friend class MVObjFactory;
	friend class CalibrationHelper;

	Homebase(Mavis * pM);
	~Homebase();

	void locatePrecisely(ObjSighting_t *);

private:
	double whiteDiam;
	int minWidth;
	int maxWidth;
	RegSearch  regSearch;
	vector<HomebaseSighting *>  SightingsVector;

	MVImg<int> * pGyImg;

	void locate();

	void threshold(MVImg<int> *);
	void setTopSearch();
	void setBottomSearch();
	void storeValidTops(vector<Region *> *);
	void storeValidBottomMatch(vector<Region *> *, HomebaseSighting *);
	void storeValidBottoms(vector<Region *> *);
	bool isAValidTop(YofXCurve *);
	bool isAValidBottom(YofXCurve *);
	bool scaleIsCorrect(Region *);
	void setObjLoc(ObjLoc_t *);
	void setPixel(HomebaseSighting * pSighting);
	void cullMultipleSightings();
	int  curveMin(YofXCurve *);
	int  curveMax(YofXCurve *);

	Region * getFirstRegDeleteOthers(vector<Region *> *);

	// Hide the copy constructor and assignment operator
	Homebase(const Homebase &);
	Homebase & Homebase::operator=(const Homebase &);

	////////////// some debug functions ////////////////
	void test(BYTE *, MVImg<int> *);
	void addCurveToImg(YofXCurve *, MVImg<int> *, int val=-1);
	void addCurveToImg(XofYCurve *, MVImg<int> *, int val=1);
};


//////////////////////////////////////////////////////////////
//  Class: HomebaseSighting
//
class HomebaseSighting
{

public:
	HomebaseSighting();
	~HomebaseSighting();

	YofXCurve * pTopCurve;
	YofXCurve * pBottomCurve;
	int confidence;
	Pixel_t px;

	Region * pTopRegion;
	Region * pBottomRegion;
};

#endif

///////////////////////////////////////////////////////////////////////////////////////
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this
// license. If you do not agree to this license, do not download, install, copy or
// use the software.
//
//
//                        Mavis License Agreement
//
// Copyright (c) 2004-2005, Robin Hewitt (http://www.robin-hewitt.com).
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
// This software is provided "as is" and any express or implied warranties, including,
// but not limited to, the implied warranties of merchantability and fitness for a
// particular purpose are disclaimed. In no event shall the authors or contributors be
// liable for any direct, indirect, incidental, special, exemplary, or consequential
// damages (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused and on any
// theory of liability, whether in contract, strict liability, or tort (including
// negligence or otherwise) arising in any way out of the use of this software, even
// if advised of the possibility of such damage.
///////////////////////////////////////////////////////////////////////////////////////