findpipette.h

Go to the documentation of this file.

//
// Method to find and track pipette tip using the Haynes and Jain edge-change
// detector and a recursive search algorithm. Note that this implementation
// assumes that the pipette is approaching from the top of the screen.
// 
// In order for initial recognition to take place the pipette has to be moved
// (ideally horizontally) so that the initial estimate of the tip can be
// obtained.
//
// Bala Amavasai (bala@amavasai.org)
// $Header: /cvs/mimas2/include/findpipette.h,v 1.1.1.1 2005/08/09 15:37:45 engmb Exp $
//

#ifndef FINDPIPETTE_H
#define FINDPIPETTE_H

#include <iostream>
#include <cmath>
#include <values.h>

#include "image.h"
#include "image_funcs.h"
#include "cartesian.h"

namespace mimas {
  
class findPipette
{
    private:
  int skipXboundaries; // left and right boundary to skip
  int skipYboundaries; // top and botton boundary to skip
  int ySearchRange;  // search from -ve in the y direction when not first frame
  int thresval;        // hj threshold value
  int linesDiffRange; // difference between longest and shortest line that is considered
  int holdPositionCondition; // hold previous position if outside this range
  bool firstrecog;    // recognition for the first time so that prevdepth can be set
  int scanliney;

  Cartesian<int> prevdepth, currdepth;
  void searchDown(int x, int y, int colour, image<int> &imagein, Cartesian<int> &d);

    protected:

    public:
  void find(image<int> &imageprev, image<int> &imagecurrent, int &x, int &y);
  void setSkipXboundaries(int tempval);
  void setSkipYboundaries(int tempval);
  int getSkipYboundaries(void);
  void setYSearchRange(int tempval);
  void setFirstRunFlag(bool tempval);
  void setHJThresholdVal(int tempval);
  void setLinesDiffRange(int tempval);
  void setHoldPositionCondition(int tempval);

  findPipette()
  {
      skipXboundaries=20;
      skipYboundaries=10;
      ySearchRange=20;
      thresval=5;
      linesDiffRange=20;
      holdPositionCondition=30;
      firstrecog=true;
      scanliney=skipYboundaries;
  }

  ~findPipette()
  {
  }
  
};
};

#endif

---