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VisionObjectEvent.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_VisionObjectEvent_h #define INCLUDED_VisionObjectEvent_h #include "EventBase.h" //! Extends EventBase to also include location in the visual field and distance (though distance is not implimented yet) class VisionObjectEvent : public EventBase { public: //! Constructor VisionObjectEvent() : EventBase(EventBase::visObjEGID,(unsigned int)-1,EventBase::statusETID,0),_x1(0),_x2(0),_y1(0),_y2(0), _clipLeft(false), _clipRight(false), _clipTop(false), _clipBottom(false) {} //! Constructor, pass a type id and source id VisionObjectEvent(EventTypeID_t tid, unsigned int sid) : EventBase(EventBase::visObjEGID,sid,tid,0),_x1(0),_x2(0),_y1(0),_y2(0), _clipLeft(false), _clipRight(false), _clipTop(false), _clipBottom(false) {} //! Constructor, pass the type id, source id, left, right, top, bottom, x range, and y range VisionObjectEvent(EventTypeID_t tid, unsigned int sid, float x1, float x2, float y1, float y2, float rx, float ry) : EventBase(EventBase::visObjEGID,sid,tid,0),_x1(x1),_x2(x2),_y1(y1),_y2(y2), _clipLeft(_x1<=-rx), _clipRight(_x2>=rx), _clipTop(_y1<=-ry), _clipBottom(_y2>=ry) {} //! destructor virtual ~VisionObjectEvent() {} //!@name Attribute Accessors float getLeft() const { return _x1;} //!< returns the initial x coordinate of the Bounding Box VisionObjectEvent& setLeft(float x1) { _x1=x1; return *this;} //!< sets the initial x coordinate of the Bounding Box float getRight() const { return _x2;} //!< returns the final x coordinate of the Bounding Box VisionObjectEvent& setRight(float x2) { _x2=x2; return *this;} //!< sets the final x coordinate of the Bounding Box float getTop() const { return _y1;} //!< returns the initial y coordinate of the Bounding Box VisionObjectEvent& setTop(float y1) { _y1=y1; return *this;} //!< sets the initial y coordinate of the Bounding Box float getBottom() const { return _y2;} //!< returns the final y coordinate of the Bounding Box VisionObjectEvent& setBottom(float y2) { _y2=y2; return *this;} //!< sets the final y coordinate of the Bounding Box //@} //!@name Calculated Attributes float getCenterX() const { return (_x1+_x2)/2; } //!< returns the center along x float getCenterY() const { return (_y1+_y2)/2; } //!< returns the center along y float getWidth() const { return _x2-_x1; } //!< return width along x float getHeight() const { return _x2-_x1; } //!< return height along y float getArea() const { return (_x2-_x1)*(_y2-_y1); } //!< returns the final x coordinate of the Bounding Box //@} //!@name Object out of bounds Detection Functions bool isClippedLeft() const { return _clipLeft; } //!< returns #_clipLeft bool isClippedRight() const { return _clipRight; } //!< returns #_clipRight bool isClippedTop() const { return _clipTop; } //!< returns #_clipTop bool isClippedBottom() const {return _clipBottom; } //!< returns #_clipBottom void setClipping(bool left, bool right, bool top, bool bottom) { _clipLeft=left; _clipRight=right; _clipTop=top; _clipBottom=bottom; } //!< sets clipping boundaries //@} virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const; virtual unsigned int getBinSize() const; virtual unsigned int LoadBuffer(const char buf[], unsigned int len); virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; protected: float _x1; //!< a value representing location in visual field - from -1 if on the left edge to 1 if it's on the right edge float _x2; //!< a value representing location in visual field - from -1 if on the bottom edge to 1 if it's on the top edge float _y1; //!< top boundary, in approximate range (+/- 160/208) for ERS-7; actual values vary depending on aspect ratio to keep square coordinates float _y2; //!< top boundary, in approximate range (+/- 160/208) for ERS-7; actual values vary depending on aspect ratio to keep square coordinates bool _clipLeft; //!< flag to indicate left boundary is on or beyond the camera image's boundary bool _clipRight; //!< flag to indicate right boundary is on or beyond the camera image's boundary bool _clipTop; //!< flag to indicate top boundary is on or beyond the camera image's boundary bool _clipBottom; //!< flag to indicate bottom boundary is on or beyond the camera image's boundary }; /*! @file * @brief Describes VisionObjectEvent, which provides information about objects recognized in the camera image * @author alokl (Creator) * @author Ignacio Herrero Reder <nhr at dte uma es> (VisionObjectInfo Boundary Box - bug 74) * * $Author: ejt $ * $Name: tekkotsu-2_3 $ * $Revision: 1.5 $ * $State: Exp $ * $Date: 2005/01/12 21:48:17 $ */ #endif

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