vision.h

足球机器人功能demo

// Vision.h: interface for the CVision class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_VISION_H__18037566_8167_4CD6_9BE4_D44117FA7CAE__INCLUDED_)
#define AFX_VISION_H__18037566_8167_4CD6_9BE4_D44117FA7CAE__INCLUDED_

#include <WINGDI.H>

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

struct YUVParam 
{
	long Ymin,Ymax;
	long Yx,Yy,Ysum;
	BOOL Yen;
	long Umin,Umax;
	long Ux,Uy,Usum;
	BOOL Uen;
	long Vmin,Vmax;
	long Vx,Vy,Vsum;
	BOOL Ven;

	
	void Clear()
	{
		Yx=Yy=Ysum=0;
		Ux=Uy=Usum=0;
		Vx=Vy=Vsum=0;
	}

	void ReSet()
	{
		Ymin=Ymax=Yx=Yy=Ysum=0;
		Umin=Umax=Ux=Uy=Usum=0;
		Vmin=Vmax=Vx=Vy=Vsum=0;
		Yen = Uen = Ven = FALSE;
		bBusy = FALSE;
	}

	BOOL bBusy;
};

class CVision  
{
public:
	void SetParam(YUVParam* inParam);
	void ImageBuf(int Width,int Height,BYTE* Buf);
	BOOL GetColor(int x,int y,RGBTRIPLE* prgb);
	BOOL FindSplash(BOOL bBina);
	CVision();
	virtual ~CVision();

private:	
	void DrawFocus(long x,long y,RGBTRIPLE *prgb);	
	int m_nCY;
	int m_nCX;
	int m_nPosition;
	BOOL LineTo(int x,int y);
	BOOL MoveTo(int x,int y);
	int m_nWidth;
	int m_nHeight;
	BYTE* m_pImageBuf;
	YUVParam * m_pParam;
	BOOL SetColor(int x,int y,RGBTRIPLE rgb);
};

#endif // !defined(AFX_VISION_H__18037566_8167_4CD6_9BE4_D44117FA7CAE__INCLUDED_)