AURobotServers
4
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#include <ubarcode.h>
Public Member Functions | |
void | clear (const int n) |
int | setData (int codeHex[], int codeHexCnt, float approxDist, int codeCount, bool validPosRot, UPosition pos, URotation rot, UTime positionTime) |
UBarcode () | |
~UBarcode () | |
Public Member Functions inherited from UGmk | |
void | clear () |
const char * | getCode () |
unsigned long | getCodeInt () |
UTime | getTime () |
bool | isCrcValid () |
bool | isPosValid () |
bool | isValid () |
void | set (const char *newCode) |
void | set (UPosition pos, URotation rot) |
void | setPosValid (bool value) |
void | setTime (UTime atTime) |
UGmk () | |
~UGmk () | |
Public Member Functions inherited from UPosRot | |
void | clear () |
UPlane | getCamToRobPlane (UPlane plane) |
Convert this plane from camera to robot coordinates. Assumes that this pose is the camera pose relative to the robot. More... | |
virtual const char * | getDataType () |
double | getKappa () |
UMatrix4 | getMtoRMatrix () |
double | getOmega () |
double | getPhi () |
UPosition * | getPos () |
UPosRot * | getPosRot () |
UPlane | getRobToCamPlane (UPlane plane) |
Convert this plane from robot to camera coordinates. Assumes that this pose is the camera pose relative to the robot. More... | |
URotation * | getRot () |
UMatrix4 | getRtoMMatrix () |
double | getTheta () |
double | getX () |
double | getY () |
double | getZ () |
UPosition | pos () |
void | print (const char *prestring) |
URotation | rot () |
void | set (UPosition pos, URotation rot) |
void | set (double x, double y, double z, double Omega, double Phi, double Kappa) |
void | setCtoR (UPosRot *camera, UPosRot *guidemark, bool mirror) |
void | setFromPose (double x, double y, double h) |
void | setKappa (double value) |
void | setOmega (double value) |
void | setPhi (double value) |
void | setPos (UPosition pos) |
void | setRot (URotation rot) |
void | setRtoC (UPosRot *camera, UPosRot *guidemark) |
void | setTheta (double value) |
void | setX (double value) |
void | setY (double value) |
void | setZ (double value) |
UPosRot () | |
~UPosRot () | |
Public Member Functions inherited from UPosition | |
void | add (const UPosition *pos) |
void | add (const UPosition pos) |
void | add (const double ix, const double iy, const double iz) |
UPosition | added (UPosition *pos) |
UPosition | added (UPosition pos) |
UMatrix4 | asCol3 () |
UMatrix4 | asCol4 () |
UMatrix4 | asMatrix4x4 () |
UMatrix4 | asRow3 () |
UMatrix4 | asRow4 () |
UMatrix4 | asVector3 (bool column) |
UMatrix4 | asVector4 (bool column) |
void | clear (void) |
virtual const char * | codeXml (char *buf, const int bufCnt, const char *extraAttr) |
virtual const char * | codeXml (const char *name, char *buf, const int bufCnt, const char *extraAttr) |
int | copy (UMatrix4 *pos) |
int | copy (const URotation *rot) |
UPosition | cross (UPosition p2) |
void | cross (UPosition p1, UPosition p2) |
double | dist (const UPosition *pTo) |
double | dist (UPosition To) |
double | dist () |
double | distSq (const UPosition *pTo) |
double | distSq () |
double | distXY () |
double | distXY (UPosition p2) |
double | dot (UPosition p2) |
double | get (int idx) |
UMatrix4 | getPixelPos (UMatrix4 *A, UMatrix4 *b) |
UPosition * | getPos () |
UPosition | getTangentPointXY (const UPosition centre, const double radius, const bool rightSide, bool *valid, double *ang=NULL) |
bool | load (const char *valueString) |
int | LoadFromReg (Uconfig *ini, const char *subject, const char *key) |
UPosition | operator* (const double scalar) |
void | operator*= (const double scalar) |
UPosition | operator+ (UPosition pos) |
void | operator+= (const UPosition pos) |
UPosition | operator- (UPosition pos) |
void | operator-= (const UPosition pos) |
UPosition | operator= (UMatrix4 vec) |
UPosition | operator= (const URotation rot) |
UPosition | operator= (const U2Dpos val) |
void | print (const char *leadString) |
void | println (const char *leadString) |
bool | save (FILE *fmap, const char *key) |
int | SaveToReg (Uconfig *ini, const char *subject, const char *key) |
void | scale (const double val) |
UPosition | scaled (const double val) |
void | set (const double ix, const double iy, const double iz) |
void | set (const int idx, const double value) |
void | setPos (UPosition fromPos) |
void | show (const char *leadString) |
virtual void | snprint (const char *leadString, char *s, const int bufferLength) |
void | sprint (char *s, const char *leadString) |
void | subtract (const UPosition *pos) |
UPosition | subtracted (UPosition *pos) |
UPosition | subtracted (UPosition pos) |
int | toUnitVector () |
void | transfer (UMatrix4 *mA) |
UPosition | transferred (UMatrix4 *mA) |
UPosition () | |
UPosition (double ix, double iy, double iz) | |
UPosition (double ix, double iy) | |
virtual | ~UPosition () |
Public Member Functions inherited from UDataBase | |
bool | isA (const char *typeString) |
virtual bool | isAlsoA (const char *typeString) |
UDataBase () | |
virtual | ~UDataBase () |
Public Member Functions inherited from URotation | |
void | add (URotation *rot) |
void | add (URotation rot) |
void | add (double iOmega, double iPhi, double iKappa) |
URotation | added (URotation *rot) |
UMatrix4 | asMatrix3x3CtoW () |
UMatrix4 | asMatrix3x3K () |
UMatrix4 | asMatrix3x3Kt () |
UMatrix4 | asMatrix3x3MtoR () |
UMatrix4 | asMatrix3x3O () |
UMatrix4 | asMatrix3x3Ot () |
UMatrix4 | asMatrix3x3P () |
UMatrix4 | asMatrix3x3Pt () |
UMatrix4 | asMatrix3x3RtoM () |
UMatrix4 | asMatrix3x3WtoC () |
UMatrix4 | asMatrix4x4CtoW () |
UMatrix4 | asMatrix4x4CtoW (UPosition *pos) |
UMatrix4 | asMatrix4x4MtoR () |
UMatrix4 | asMatrix4x4MtoR (UPosition *pos) |
UMatrix4 | asMatrix4x4MtoR (UPosition pos) |
UMatrix4 | asMatrix4x4RtoM () |
UMatrix4 | asMatrix4x4RtoM (UPosition *pos) |
UMatrix4 | asMatrix4x4RtoM (UPosition pos) |
UMatrix4 | asMatrix4x4WtoC () |
UMatrix4 | asMatrix4x4WtoC (UPosition *pos) |
UMatrix4 | asUnitZVector3CtoW () |
UMatrix4 | asUnitZVector4CtoW () |
UMatrix4 | asVector3 () |
UMatrix4 | asVector4 () |
void | clear (void) |
virtual const char * | codeXml (char *buff, const int buffCnt, const char *extra) |
virtual const char * | codeXml (const char *name, char *buff, const int buffCnt, const char *extra) |
int | copy (UMatrix4 *rot) |
int | copy (UPosition *pos) |
URotation * | getRot () |
void | LimitToPi () |
void | limitToPi () |
bool | load (const char *valueString) |
int | LoadFromReg (Uconfig *ini, const char *subject, const char *key) |
URotation | operator* (double val) |
void | operator*= (double val) |
URotation | operator+ (URotation rot) |
void | operator+= (URotation rot) |
URotation | operator- (URotation rot) |
void | operator-= (URotation rot) |
URotation | operator= (UMatrix4 vec) |
URotation | operator= (UPosition pos) |
void | print (const char *leadString) |
bool | save (FILE *fmap, const char *key) |
int | SaveToReg (Uconfig *ini, const char *subject, const char *key) |
void | scale (double val) |
URotation | scaled (double val) |
void | set (double iOmega, double iPhi, double iKappa) |
void | setFromYZ (UPosition posY, UPosition posZ) |
void | setRot (URotation rot) |
void | show (const char *leadString) |
void | snprint (const char *leadString, bool inDegree, char *s, const int bufferLength) |
void | sprint (char *s, const char *leadString, bool inDegree=true) |
void | subtract (URotation *rot) |
URotation | subtracted (URotation *rot) |
URotation () | |
URotation (double iOmega, double iPhi, double iKappa) | |
virtual | ~URotation () |
Public Attributes | |
float | appDist |
int | codeNumber |
int | codeNumberCount |
Public Attributes inherited from UPosition | |
double | x |
double | y |
double | z |
Public Attributes inherited from URotation | |
double | Kappa |
double | Omega |
double | Phi |
Additional Inherited Members | |
Static Public Member Functions inherited from UGmk | |
static unsigned long | getCodeInt (const char *newCode, bool *okCrc=NULL) |
Static Public Member Functions inherited from UPosition | |
static UPosition | position (double ix, double iy, double iz) |
Static Public Attributes inherited from UGmk | |
static const int | MAX_CODE_LENGTH = 30 |
Protected Attributes inherited from UGmk | |
char | code [MAX_CODE_LENGTH] |
unsigned long | codeInt |
bool | crcOK |
UTime | time |
bool | valid |
bool | validPos |
Data related to detection of a barcode image.
UBarcode::UBarcode | ( | ) |
Constructor
UBarcode::~UBarcode | ( | ) |
Destructor
void UBarcode::clear | ( | const int | n | ) |
Clear (invalidate the data) and set code number.
References UGmk::clear(), and codeNumberCount.
int UBarcode::setData | ( | int | codeHex[], |
int | codeHexCnt, | ||
float | approxDist, | ||
int | codeCount, | ||
bool | validPosRot, | ||
UPosition | pos, | ||
URotation | rot, | ||
UTime | positionTime | ||
) |
Set most data related to barcode
References appDist, codeNumber, codeNumberCount, UGmk::MAX_CODE_LENGTH, mini(), UGmk::setTime(), and UGmk::validPos.
float UBarcode::appDist |
Validity of code Approximate distance to barcode estimated from frame height only. This estimate is valid regardless of position and orientation is estimated. Could save the estimation time if this distance is sufficient.
Referenced by setData().
int UBarcode::codeNumber |
Code number in image. There may be up to 32 (parameter) codes detected in one image.
Referenced by setData().
int UBarcode::codeNumberCount |