mvobj.cpp

机器人程序

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

#include <memory.h>
#include "MVObj.h"
#include "Mavis.h"
#include "../camera/Camera.h"


//////////////////////////////////////////////////////////////
// Implementation of MVObjSighting class
//

MVObjSighting::MVObjSighting() : confidence(0)
{
}


//////////////////////////////////////////////////////////////
// Implementation of MVObjBase class
//

MVObjBase::MVObjBase(Mavis * pM) : pMavis(pM)
{
}


//////////////////////////
// getNext()
//
// The default implementation sets all fields in pObjLoc to zero --
// the "not-found" state and returns an error. For classes that
// don't detect multiple instances, this seems a reasonable thing
// to do.
//
int MVObjBase::getNext(ObjLoc_t * pObjLoc)
{
	memset(pObjLoc, 0, sizeof(ObjLoc_t));
	return -1;
}


void MVObjBase::setImageLocation(ObjLoc_t * pObjLoc, ImgROI_t & roi, Mavis * pMavis)
{
	Pixel_t px;
	px.x = (roi.xhi-roi.xlo) / 2;
	px.y = (roi.yhi-roi.ylo) / 2;

	// set bounding box
	pObjLoc->xlo = roi.xlo;
	pObjLoc->xhi = roi.xhi;
	pObjLoc->ylo = roi.ylo;
	pObjLoc->yhi = roi.yhi;

	// compute angle
	Camera * pCamera = pMavis->getCamera();
	WorldCoord wc = pCamera->screen2world( px.x, px.y );
	pObjLoc->angle = wc.angle;
}


///////////////////////////////////////////////////////////////////////////////////////
// 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, 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.
///////////////////////////////////////////////////////////////////////////////////////