FieldDrawer Class Reference

This class is used to draw a soccer field. More...

#include <field_drawer.h>

List of all members.


Public Member Functions

 FieldDrawer (const FieldLines &lines)
 Created a new field object.
virtual ~FieldDrawer ()
 Destructor.
void set_head_yaw (float head_yaw)
 Sets the angular offset between body and head (along the body axis).
void set_own_pos (fawkes::field_pos_t own_position)
 Own position setter.
void set_own_pos_est (fawkes::field_pos_t own_position_estimate)
 Own position estimate setter.
void set_line_points (const fld_line_points_t *points)
 Setter for detected line points.
void set_line_points_est (const fld_line_points_t *points_est)
 Setter for detected line points.
void set_color_background (YUV_t color)
 Sets the background color (outside the field).
void set_color_field (YUV_t color)
 Sets the field color.
void set_color_lines (YUV_t color)
 Sets the lines color.
void set_color_line_points (YUV_t color)
 Sets the line points color.
void set_color_line_points_est (YUV_t color)
 Sets the line points color.
void set_color_own_pos (YUV_t color)
 Sets the own position color.
void set_color_own_pos_est (YUV_t color)
 Sets the own position estimates color.
virtual void draw_field (unsigned char *yuv422_planar, unsigned int img_width, unsigned int img_height, bool draw_background=true, bool draw_landscape=true)
 Draws the field (including the own position [est]).

Protected Member Functions

void clear_own_pos ()
 Clears the own position.
float get_scale (unsigned int img_width, unsigned int img_height, bool draw_landscape=true) const
 Calculates the conversion factor between field size and image size.
virtual void draw_line_points (bool draw_landscape=true, float scale=0) const
 Draws the line points.
virtual void draw_lines (YUV_t color, bool draw_landscape=true, float scale=0) const
 Draws the field lines to a SharedMemoryImageBuffer.

Protected Attributes

unsigned char * _img_buffer
 The pointer to the target image buffer.
unsigned int _img_width
 The width of the target image buffer.
unsigned int _img_height
 The height of the target image buffer.

Detailed Description

This class is used to draw a soccer field.

Author:
Christof Rath

Definition at line 33 of file field_drawer.h.

Constructor & Destructor Documentation

FieldDrawer::FieldDrawer ( const FieldLines &  lines  ) 

Created a new field object.

Parameters:
lines the field lines container

Definition at line 55 of file field_drawer.cpp.

References YUV_t_struct::black(), clear_own_pos(), YUV_t_struct::cyan(), YUV_t_struct::green(), set_color_background(), set_color_field(), set_color_line_points(), set_color_line_points_est(), set_color_lines(), set_color_own_pos(), set_color_own_pos_est(), YUV_t_struct::white(), and YUV_t_struct::yellow().

FieldDrawer::~FieldDrawer (  )  [virtual]

Destructor.

Definition at line 77 of file field_drawer.cpp.

Member Function Documentation

void FieldDrawer::clear_own_pos (  )  [inline, protected]

Clears the own position.

Used (e.g.) if the own position couldn't be calculated

Definition at line 119 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, and fawkes::field_pos_t::ori.

Referenced by draw_field(), and FieldDrawer().

void FieldDrawer::draw_field ( unsigned char *  yuv422_planar,
unsigned int  img_width,
unsigned int  img_height,
bool  draw_background = true,
bool  draw_landscape = true 
) [virtual]

Draws the field (including the own position [est]).

The position [est] and line points [est] gets reseted after drawing

Parameters:
yuv422_planar the image buffer
img_width the image width
img_height the image height
draw_background true if the background (field and border) should be drawn
draw_landscape true if the field should be drawn landscape

Definition at line 254 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, clear_own_pos(), ROI::contains(), Drawer::draw_circle(), Drawer::draw_line(), draw_line_points(), draw_lines(), FieldLines::get_field_length(), FieldLines::get_field_offsets(), FieldLines::get_field_width(), fawkes::field_pos_t::ori, Drawer::set_buffer(), Drawer::set_color(), YUV_t_struct::U, YUV_t_struct::V, fawkes::field_pos_t::x, fawkes::cart_coord_2d_t::x, fawkes::field_pos_t::y, fawkes::cart_coord_2d_t::y, and YUV_t_struct::Y.

void FieldDrawer::draw_line_points ( bool  draw_landscape = true,
float  scale = 0 
) const [protected, virtual]

Draws the line points.

Parameters:
draw_landscape true if the field should be drawn landscape
scale the pre calculated scale (conversion factor between image size and field size - if 0 the value gets calculated)

Definition at line 396 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, Drawer::draw_cross(), FieldLines::get_field_length(), FieldLines::get_field_offsets(), FieldLines::get_field_width(), Drawer::set_buffer(), Drawer::set_color(), fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.

Referenced by draw_field().

void FieldDrawer::draw_lines ( YUV_t  color,
bool  draw_landscape = true,
float  scale = 0 
) const [protected, virtual]

Draws the field lines to a SharedMemoryImageBuffer.

Parameters:
color of the lines
draw_landscape if true (default) the field is supposed to be landscape
scale the conversation factor between [m] and [px] (if 0 this value gets calculated)

Definition at line 440 of file field_drawer.cpp.

References _img_buffer, _img_height, _img_width, Drawer::draw_circle(), Drawer::draw_line(), FieldLines::get_circles(), FieldLines::get_field_length(), FieldLines::get_field_offsets(), FieldLines::get_field_width(), Drawer::set_buffer(), Drawer::set_color(), fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.

Referenced by draw_field().

float FieldDrawer::get_scale ( unsigned int  img_width,
unsigned int  img_height,
bool  draw_landscape = true 
) const [inline, protected]

Calculates the conversion factor between field size and image size.

Parameters:
img_width of the target image
img_height of the target image
draw_landscape true if the image should be drawn landscape
Returns:
the conversion factor

Definition at line 164 of file field_drawer.cpp.

References FieldLines::get_field_length(), and FieldLines::get_field_width().

void FieldDrawer::set_color_background ( YUV_t  color  ) 

Sets the background color (outside the field).

Parameters:
color to be used

Definition at line 176 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_color_field ( YUV_t  color  ) 

Sets the field color.

Parameters:
color to be used

Definition at line 186 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_color_line_points ( YUV_t  color  ) 

Sets the line points color.

Parameters:
color to be used

Definition at line 206 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_color_line_points_est ( YUV_t  color  ) 

Sets the line points color.

Parameters:
color to be used

Definition at line 216 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_color_lines ( YUV_t  color  ) 

Sets the lines color.

Parameters:
color to be used

Definition at line 196 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_color_own_pos ( YUV_t  color  ) 

Sets the own position color.

Parameters:
color to be used

Definition at line 226 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_color_own_pos_est ( YUV_t  color  ) 

Sets the own position estimates color.

Parameters:
color to be used

Definition at line 236 of file field_drawer.cpp.

Referenced by FieldDrawer().

void FieldDrawer::set_head_yaw ( float  head_yaw  ) 

Sets the angular offset between body and head (along the body axis).

Parameters:
head_yaw angular offset

Definition at line 87 of file field_drawer.cpp.

void FieldDrawer::set_line_points ( const fld_line_points_t *  points  ) 

Setter for detected line points.

Parameters:
points a list of line points (relative to the center of the field!)

Definition at line 138 of file field_drawer.cpp.

void FieldDrawer::set_line_points_est ( const fld_line_points_t *  points_est  ) 

Setter for detected line points.

Parameters:
points_est a list of line points (relative to the center of the field!)

Definition at line 149 of file field_drawer.cpp.

void FieldDrawer::set_own_pos ( fawkes::field_pos_t  own_position  ) 

Own position setter.

Sets the (calculated) own position on the field

Parameters:
own_position as calculated by the localization

Definition at line 98 of file field_drawer.cpp.

void FieldDrawer::set_own_pos_est ( fawkes::field_pos_t  own_position_estimate  ) 

Own position estimate setter.

Sets the position estimate (e.g. by triangulation, odometry, ...)

Parameters:
own_position_estimate as estimated

Definition at line 109 of file field_drawer.cpp.

Member Data Documentation

float FieldDrawer::_img_buffer [protected]

The pointer to the target image buffer.

Definition at line 63 of file field_drawer.h.

Referenced by clear_own_pos(), draw_field(), draw_line_points(), and draw_lines().

float FieldDrawer::_img_height [protected]

The height of the target image buffer.

Definition at line 65 of file field_drawer.h.

Referenced by clear_own_pos(), draw_field(), draw_line_points(), and draw_lines().

float FieldDrawer::_img_width [protected]

The width of the target image buffer.

Definition at line 64 of file field_drawer.h.

Referenced by clear_own_pos(), draw_field(), draw_line_points(), and draw_lines().

The documentation for this class was generated from the following files: