de.uniba.sme.bambirds.vision.VisionSling Class Reference

Collaboration diagram for de.uniba.sme.bambirds.vision.VisionSling:

Public Member Functions
	VisionSling (final BufferedImage img)
Rectangle	findSlingshot ()

Public Attributes
String	identifier = "lvl"

Private Member Functions
void	convertToHSV ()
LinkedList< Rectangle >	findSlingshot (Rectangle crop, int threshold, int minPoints, float pxPercentage)
int	rgb2hsv (int rgb)

Private Attributes
BufferedImage	image
boolean	convertedToHSV = false
int	_nHeight
int	_nWidth
Rectangle	sling = null

Static Private Attributes
static final Logger	log = LogManager.getLogger(VisionSling.class)
static VisualDebugger	DBG = new VisualDebugger("VisionSling")
static final boolean	IGNORE_SV_VALUES = false

Constructor & Destructor Documentation

VisionSling()

de.uniba.sme.bambirds.vision.VisionSling.VisionSling

(

final BufferedImage

img

)

Custom image processing to convert the RGB color space into HSV color space. Currently this class supports Slingshot extraction findSlingshot()

Parameters

img	Screenshot of the scene

Member Function Documentation

findSlingshot() [1/2]

Rectangle de.uniba.sme.bambirds.vision.VisionSling.findSlingshot

(

)

Runs image processing on the image to find the slingshot.

Returns

Bounding box of sling

findSlingshot() [2/2]

LinkedList< Rectangle > de.uniba.sme.bambirds.vision.VisionSling.findSlingshot ( Rectangle  crop, int  threshold, int  minPoints, float  pxPercentage  )

private

Internal method to apply a two level hue threshold and pixel grouping. This method is called twice (two level). Use public function findSlingshot() instead.

Parameters

crop	Don't use complete image but a clipped segment
threshold	Hue value threshold (colors darken then threshold)
minPoints	Number of points to be at least in one bounding box
pxPercentage	Pixel to bounding box fill ration. (Sling has roughly half of it's px set)

Returns

Bounding box of slingshot

rgb2hsv()

int de.uniba.sme.bambirds.vision.VisionSling.rgb2hsv ( int  rgb )

private

Color conversion RGB -> HSV

Parameters

rgb	Integer value with last 24 bits containing all three colors

Returns

24 bit integer value with hue, saturation and value

---

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

• VisionSling.java