PER.rover.control
Class TrackFinder

java.lang.Object
  extended byPER.rover.control.TrackFinder

public class TrackFinder
extends java.lang.Object

This is a class that, given an image and a measure of how much of a deviation from mean is allowed, creates good track color parameters.


Field Summary
 int cmaxu
           
 int cmaxv
           
 int cmaxy
           
 int cminu
           
 int cminv
           
 int cminy
           
 int cpix
           
 boolean[][] currMask
           
 int ur
           
 int vr
           
 boolean[][] workMask
           
 int yr
           
 
Constructor Summary
TrackFinder(int yRange, int uRange, int vRange)
          Creates a new instance of TrackFinder
 
Method Summary
 boolean addPoint(int x, int y)
          Adds a point to what is being tracked.
 boolean[][] getTrackMask()
           
 boolean pixelInRange(int x, int y)
          return true if the pixel is in the range of the track params
 void setYUV(int[] yuv_in, int width, int height)
          You should call this whenever the source pixels have changed
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

yr

public int yr

ur

public int ur

vr

public int vr

currMask

public boolean[][] currMask

workMask

public boolean[][] workMask

cminy

public int cminy

cmaxy

public int cmaxy

cminu

public int cminu

cmaxu

public int cmaxu

cminv

public int cminv

cmaxv

public int cmaxv

cpix

public int cpix
Constructor Detail

TrackFinder

public TrackFinder(int yRange,
                   int uRange,
                   int vRange)
Creates a new instance of TrackFinder

Parameters:
yRange - maximum deviation allowed from mean Y
uRange - maximum deviation allowed from mean U
vRange - maximum deviation allowed from mean V
Method Detail

setYUV

public void setYUV(int[] yuv_in,
                   int width,
                   int height)
You should call this whenever the source pixels have changed


getTrackMask

public boolean[][] getTrackMask()

addPoint

public boolean addPoint(int x,
                        int y)
Adds a point to what is being tracked. Returns true if it is the first point added or if as a second point, the filled in region overlaps with the region already tracked.


pixelInRange

public boolean pixelInRange(int x,
                            int y)
return true if the pixel is in the range of the track params