TABLE OF CONTENTS

1. LibVision/VIS_RGB2Hue
2. LibVision/VIS_RGB2Sat
3. LibVision/VIS_RGB2Int
4. LibVision/VIS_FillHueTable
5. LibVision/VIS_FillRGBSpace
6. LibVision/VIS_FillWhiteClass
7. LibVision/VIS_ReduceNoise
8. LibVision/VIS_ReduceNoisef
9. LibVision/VIS_ReduceNoise2
10. LibVision/VIS_ReduceNoise2f
11. LibVision/VIS_FindLimits
12. LibVision/VIS_FindClass
13. LibVision/VIS_FindClasses
14. LibVision/VIS_MedianHue
15. LibVision/VIS_Init
16. LibVision/VIS_ColClear
17. LibVision/VIS_ColInit
18. LibVision/VIS_ColFindOne
19. LibVision/VIS_ColFind
20. LibVision/VIS_CamCal
21. LibVision/VIS_ModifyCam
22. LibVision/VIS_ModifyAlgo
23. LibVision/VIS_InitDistance
24. LibVision/VIS_GetPosition
25. LibVision/VIS_InitBwimg
26. LibVision/VIS_ComputeBW
27. LibVision/VIS_DrawLimits
28. LibVision/VIS_DrawBorder
29. LibVision/VIS_MarkObject
30. LibVision/VIS_ErrorDisplay
31. LibVision/VIS_InitShowProgress
32. LibVision/VIS_ShowProgress
33. LibVision/VIS_ShowOffset
34. LibVision/VIS_InitCam
35. LibVision/VIS_AutobrightnessDelay
36. LibVision/VIS_TeamRobot

LibVision/VIS_RGB2Hue

   BYTE VIS_RGB2Hue(BYTE R, BYTE G, BYTE B)  

   Converts (R,G,B) triplet into Hue value between 0 and 252.

   VIS_RGB2Sat VIS_RGB2Int



 Thomas Braunl, UWA 1998.

LibVision/VIS_RGB2Sat

   BYTE VIS_RGB2Sat(int R, int G, int B)  

   Converts (R,G,B) triplet into Saturation value between 0 and 255.

   VIS_RGB2Hue VIS_RGB2Int

LibVision/VIS_RGB2Int

   BYTE VIS_RGB2Int(int R, int G, int B)  

   Converts (R,G,B) triplet into Intensity value between 0 and 255.

   VIS_RGB2Hue VIS_RGB2Sat

LibVision/VIS_FillHueTable

   void VIS_FillHueTable(void)  

   Fills the RGB to Hue conversion table for faster conversion. Sets the HueTableOK flag to 1.

   The RGB->Hue conversion table is a global variable.

   VIS_FillRGBSpace VIS_FillWhiteClass

LibVision/VIS_FillRGBSpace

   void VIS_FillRGBSpace(BYTE HueMin, BYTE HueMax, BYTE Saturation, 

                         BYTE ColourClass, VIS_RGBSpace *RGBSpace)  

   Fills the RGB space cube with a colour class, using a saturation threshold.

   The saturation threshold can be the default defined one (VIS_SAT_THRES).

   'ColourClass' is defined by the user and is the reference to the colour-class.

   VIS_ColInit VIS_ColClear VIS_ColFind VIS_FillHueTable VIS_FillWhiteClass

LibVision/VIS_FillWhiteClass

   void VIS_FillWhiteClass(int SatMin, int SatMax, BYTE IntMin, BYTE IntMax,

                           BYTE ColourClass, VIS_RGBSpace *RGBSpace)  

   Fills a white class in the RGB space.

   'SatMin' and 'SatMax' define the saturation range, 'SatMax' may be VIS_SAT_THRES for instance.

   The shade between black and white is defined by the intensity range (IntMin, IntMax).

   'ColourClass' is defined by the user and is the reference to the colour-class.

   VIS_ColInit VIS_ColClear VIS_ColFind VIS_FillHueTable

LibVision/VIS_ReduceNoise

   int VIS_ReduceNoise(VIS_Process *Process, int len)  

   Denoise every pixels with a depth of 'len'.

   VIS_ReduceNoisef VIS_ReduceNoise2 VIS_ReduceNoise2f

LibVision/VIS_ReduceNoisef

   int VIS_ReduceNoisef(VIS_Process *Process)  

   Denoise 'f' every pixels using the fast loop (i.e. one pixel around).

   VIS_ReduceNoise VIS_ReduceNoise2 VIS_ReduceNoise2f

LibVision/VIS_ReduceNoise2

   int VIS_ReduceNoise2(VIS_Process *Process, int len)  

   Denoise '2' i.e. every two pixels.

   VIS_ReduceNoise VIS_ReduceNoisef VIS_ReduceNoise2f

LibVision/VIS_ReduceNoise2f

   int VIS_ReduceNoise2f(VIS_Process *Process)  

   Denoise '2f' i.e. every two pixels and fast (i.e. one pixel around).

   VIS_ReduceNoise VIS_ReduceNoisef VIS_ReduceNoise2

LibVision/VIS_FindLimits

   void VIS_FindLimits(int* pTop, int* pBot, int* pRight, int* pLeft, VIS_Object *Object)  

   Find the limits of the segmented objects.

   VIS_FindLimits VIS_FindClass VIS_FindClasses VIS_ColFindOne VIS_ColFind

LibVision/VIS_FindClass

   void VIS_FindClass(colimage *Pic, VIS_RGBSpace *RGBSpace, VIS_Object *Object, int ColourClass)

   Build a binary map for a specific colour class.

   Input  : a colimage, the RGBSpace to use, and the ColourClass to look for.

   Output : a VIS_Object structure containing the object informations. 

   VIS_FindLimits VIS_ColFindOne VIS_ColFind VIS_FindClass VIS_FindClasses

LibVision/VIS_FindClasses

   void VIS_FindClasses(BYTE number, colimage *Pic, VIS_RGBSpace *RGBSpace, VIS_Process *Process,

                          BYTE *ColourList)

   Build a binary map for several colour classes.

   'Process' and 'ColourClass' are arrays having 'number' elements.

   VIS_FindLimits VIS_ColFindOne VIS_ColFind VIS_FindClass

LibVision/VIS_MedianHue

   VIS_DefineHue VIS_MedianHue(colimage *Pic, int size)

   Finds median hue and the hue range out of the middle part of the picture.

   'size' can not be more than 10.

   Returns a VIS_DefineHue structure containing the median Hue (VIS_DefineHue.Hue) and 

 the Hue range (VIS_DefineHue.Range).

   Both structure elements are set to -1 if an error occured.

LibVision/VIS_Init

   void VIS_Init(void)

   Fills the hue conversion table and initialise the algorithm and camera offset defaults.

LibVision/VIS_ColClear

   void VIS_ColClear(VIS_RGBSpace *RGBSpace)

   Clears the RGB space: fills it with the VIS_NONE value.

   VIS_ColInit VIS_ColFind

LibVision/VIS_ColInit

   void VIS_ColInit(VIS_HueTable *HueTable, VIS_RGBSpace *RGBSpace, int ColourClass)

   Initialise a new colour class.

   VIS_ColClear VIS_ColFind

LibVision/VIS_ColFindOne

   void VIS_ColFindOne(colimage *Pic, VIS_RGBSpace *RGBSpace, VIS_Object *Object, BYTE ColourClass)

   Finds the specified colour class.

   Returns the ColourClass found : either ColourClass, either VIS_NONE.

   VIS_ColInit VIS_ColClear VIS_ColFind

LibVision/VIS_ColFind

   int VIS_ColFind(int number, colimage *Pic, VIS_RGBSpace *RGBSpace, 

                   VIS_Object *Object, BYTE *ColourList)

   Finds several colour classes pur in a list.

   Returns -1 if 'number' is bigger than the maximum number of classes, 0 for no errors.

   VIS_ColInit VIS_ColClear VIS_ColFindOne

LibVision/VIS_CamCal

   void VIS_CamCal(VIS_RGBSpace *RGBSpace, BYTE ColourClass)

   Camera angle offset

LibVision/VIS_ModifyCam

   void VIS_ModifyCam(VIS_CamOffset *NewCam)

   Modify camera offset values.

   Input  : a new 'VIS_CamOffset' structure.

            'VIS_CamOffset' is 5 values : angle and beta as floats

                                          alpha as BYTE

                                          height and lenght as int 

   Output : 0 for no errors, 1 is the NewCam is not valid.

   VIS_ModifyAlgo

LibVision/VIS_ModifyAlgo

   void VIS_ModifyAlgo(VIS_Algo *NewAlgo)

   Modify algorithm values.

   Input  : a new 'VIS_algo' structure.

            'VIS_Algo' is 4 integers : depth, fast, step and loop (modified automatically).

            Program is checking error in 'VIS_Algo' values, display them and return an error code.

            If an error occurs, no changes are made.

   Output : an error code : ==0 -> no errors; >0 -> an error occured.

   VIS_ModifyCam

LibVision/VIS_InitDistance

   BYTE VIS_InitDistance(void)

   Check the CamInfo and initialise distances lookup tables.

   Output : returns 0 if VIS_struct is set up properly, >0 if not or if beta angle not set up.

   VIS_GetPosition()

LibVision/VIS_GetPosition

   int VIS_GetPosition(VIS_Object *Object, VIS_Distance *ObjDist)

   Returns the distance of the ball by looking into the lookup tables.

   A VIS_distance struct is made of 3 integers : d_row, d_col and dist.

   Where dist is the direct distance between the robot and the ball,

         (d_row,d_col) are the relative coordinates of the ball compared to the robot position,

   So that dist^2=d_row^2+d_col^2.

   d_row is the depth of the ball compared to the robot position,

   d_col is the side distance of the ball compared to the robot.

   Input  : an object structure (VIS_Object) and a VIS_Distance result structure.

   Output : 0 on success, -1 if distance table is not initialised.

   VIS_Init_distance()

LibVision/VIS_InitBwimg

   void VIS_InitBwimg(BYTE *bwimg)

   BW LCD picture initialisation.

   Input  : 'Picture' structure.

   Output : 0 no errors, -1 NULL bwimg pointer.

   VIS_ComputeBW VIS_DrawLimits

LibVision/VIS_ComputeBW

   void VIS_ComputeBW(BYTE *bwimg, BYTE *temp)

   Get a 2D binary array and make a linear BW array for LCD display.

   Input  : a BW linear array for LCD display (bwimg), a 2D binary array (temp).

   VIS_InitBwimg VIS_DrawLimits

LibVision/VIS_DrawLimits

   void VIS_DrawLimits(BYTE *bwimg, VIS_Object *Object, int value)

   Draw object limits and center on bw picture.

   value==0 -> erase, value>0 -> draw.

   Input  : a BW linear array, the region to draw and a draw (i.e. >0) / erase (i.e. ==0) value.

   Output : N/A

   VIS_InitBwimg VIS_ComputeBW

LibVision/VIS_DrawBorder

   void VIS_DrawBorder(BYTE *bwimg, int rows, int cols)

   Draw borders in a 1D array for LCD display

   Input  : a 1D BW array, line and column of the border.

   Output : N/A

LibVision/VIS_MarkObject

   void VIS_MarkObject(image greyimg, int x_middle, int y_middle, int object_size)

   Mark object position by drawing a vertical and horizontal white

   line through it. Ball size is displayed by black lines.

   Birgit Graf, UWA 1998.

LibVision/VIS_ErrorDisplay

   void VIS_ErrorDisplay(char title[16], int error, char msg[16])

   Display error messages.

   Input  : a box title (16 char max.), an error code an error message (16 char max.).

   Output : N/A

LibVision/VIS_InitShowProgress

   void VIS_InitShowProgress(char title[16])

   Initialise the progress show of a loop (clear screen, display title,...).

   Input  : a loop title (16 char max.).

   Output : N/A

LibVision/VIS_ShowProgress

   void VIS_ShowProgress(int actual, int max)

   Displays the progress of a loop.

   Input  : the number of the actual loop and the total number of loops.

   Output : N/A

LibVision/VIS_ShowOffset

   void VIS_ShowOffset()

   Displays the actual offset of the camera.

   'alpha' as a BYTE between 0 and 255, 'beta' as a float in degres.

LibVision/VIS_InitCam

   int VIS_InitCam(int mode)

   Initialisation of the camera. 10 retries.

   Input  : mode of the camera.

   Output : camversion or INITERROR.

   N/A

LibVision/VIS_AutobrightnessDelay

   void VIS_AutobrightnessDelay(int number)

   Let time to camera for autobrightness.

   Input  : number of waits.

   Output : N/A

   N/A

LibVision/VIS_TeamRobot

   int VIS_TeamRobot(void)

   Returns a robot team and ID.

   Team is 0 for Eyecam and 1 for Quickam, ID is between 1 and 5.

   Asks for robot ID if not between 1 and 5.

   Input  : N/A

   Output : a two digits integer xy where x is the team and y is the ID.

   N/A