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CameraPose.h
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CameraPose.h
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/*
* CameraPose Header
* Used to define functions and constants to collect, filter, and interpret camera data
* Written by Greg Seaman, Adam Park, and Ryan McNulty
*/
#ifndef __CAMERA_POSE__
#define __CAMERA_POSE__
#include "robot_if++.h"
#include "modified_color.h"
#include <list>
using namespace std;
/*
* Holds pair of horizontally matching squares and their color
*/
typedef struct {
squares_t* left;
squares_t* right;
int color;
} squarePair;
class CameraPose {
public:
CameraPose(RobotInterface *r);
~CameraPose();
list<squarePair> updateCamera();
void displayImages();
list<squarePair> matchSquares(squares_t *squares, int color);
void drawSquares(squares_t *squares, CvScalar displayColor);
void printCenters(list<squarePair> pairs);
int getCenterError(list<squarePair> pairs);
int getCellError(list<squarePair> pairs);
int getCellErrorX(list<squarePair> pairs);
int getTurnError(list<squarePair> pairs);
void removeOverlap(squares_t *squares);
int getSquareSide(squares_t *squares);
//Current image number for saving purposes
unsigned int image_ctr;
private:
RobotInterface *robot;
//Images for camera data and display
IplImage *cameraImage;
IplImage *hsvImage;
IplImage *pinkHigh;
IplImage *pinkLow;
IplImage *yellow;
IplImage *filteredImage;
int turnError;
static const int MIN_SQUARE = 400;
//Constants for screen resolution
static const int SCREEN_WIDTH = 640;
static const int SCREEN_HEIGHT = 480;
//Constants for squarePair color
static const int PINK = 0;
static const int YELLOW = 1;
//Constants for square locations when at center of cell
static const int Y_CELL_CENTER_PINK = 220;
static const int Y_CELL_CENTER_YELLOW = 170;
static const int X_CELL_CENTER_RIGHT = 540;
static const int X_CELL_CENTER_LEFT = 115;
};
#endif