devs.visionpackage.org.cmotch.robovision
Class VisionImage

java.lang.Object
  devs.visionpackage.org.cmotch.robovision.VisionImage

public class VisionImage
extends java.lang.Object

Class that represents the image that was captured from the camera This includes methods to allow the caller to find out what objects were seen, if any, and what colour they were.

Field Summary

static byte	BLUE
static byte	EDGE
static byte	EMPTY
static byte	GREEN
static byte	NO_COLOUR
static byte	NUMBER_OF_COLOURS
static byte	OCCUPIED
static byte	RED

Constructor Summary

VisionImage(java.awt.Image image)
Constructor

Method Summary

boolean	canYouSee(byte colour) Look for coloured object.
boolean[]	getColoursSeen() Get the colours, if any, that were seen in the image.
int	getHeight() Get the height of the image
java.awt.Image	getImage() Get the raw Image object (can be used for display)
int	getPixel(int x, int y) Get the value of a particular pixel
int[]	getPixelMap() Get the pixel map for this image
VisionObject	getVisionObject(byte colour) Get the information about an object viewed by the robot
int	getWidth() Get the width of the image
void	setDebugLevel(int level) Set debug level
boolean	testPixelColour(int pixel, byte colour) Determine whether a pixel is of a particular colour using the thresholds array

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

RED

public static final byte RED

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Constant Field Values

GREEN

public static final byte GREEN

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Constant Field Values

BLUE

public static final byte BLUE

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Constant Field Values

NUMBER_OF_COLOURS

public static final byte NUMBER_OF_COLOURS

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Constant Field Values

NO_COLOUR

public static final byte NO_COLOUR

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Constant Field Values

EMPTY

public static final byte EMPTY

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Constant Field Values

EDGE

public static final byte EDGE

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Constant Field Values

OCCUPIED

public static final byte OCCUPIED

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Constant Field Values

Constructor Detail

VisionImage

public VisionImage(java.awt.Image image)
            throws VisionException

Constructor

Parameters:

image - The source image from the camera

Throws:

VisionException - If the image is unusable

Method Detail

setDebugLevel

public void setDebugLevel(int level)

Set debug level

getWidth

public int getWidth()

Get the width of the image

Returns:

The width of the image

getHeight

public int getHeight()

Get the height of the image

Returns:

The height of the image

getImage

public java.awt.Image getImage()

Get the raw Image object (can be used for display)

Returns:

The initial image

getPixelMap

public int[] getPixelMap()

Get the pixel map for this image

Returns:

The pixel array for this image

getPixel

public int getPixel(int x,
                    int y)

Get the value of a particular pixel

Parameters:

x - The X co-ordinate of the pixel

y - The Y co-ordinate of the pixel

getColoursSeen

public boolean[] getColoursSeen()

Get the colours, if any, that were seen in the image.

NOTE: These vision algorithms are quite simple, so we restrict our processing to the primary colours red, blue and green. If you put a non-primary coloured object in the field of view it may well appear as two objects in the same place.

testPixelColour

public boolean testPixelColour(int pixel,
                               byte colour)

Determine whether a pixel is of a particular colour using the thresholds array

Parameters:

pixel - The pixel to check

colour - The colour to test the pixel for

Returns:

Whether the pixel is of this colour or not

canYouSee

public boolean canYouSee(byte colour)

Look for coloured object. This will be useful if there could be more than one object in the field of view.

Parameters:

colour - The colour of the object to look for

getVisionObject

public VisionObject getVisionObject(byte colour)

Get the information about an object viewed by the robot

Parameters:

colour - The colour to look for (NO_COLOUR means any colour, which will be the first of red, blue or green that was seen