Public Types
using	ImageType = Camera::ImageType

	BorderDetector (Config config)

void	initalize (const std::array< ImageType, Config::dataSize > &data, const uint8_t percentCoefficient=100)

int	findBorder (const std::array< ImageType, Config::dataSize > &data)

int	leftDistanceFromCenter () const

int	rightDistanceFromCenter () const

int	error (const int percentCoefficient=100) const

int	leftBorder () const

int	rightBorder () const

Member Typedef Documentation

Constructor & Destructor Documentation

nxpcup::BorderDetector::BorderDetector ( Config config )

inline

Constructor of class BorderDetector.

Parameters

config structConfig}

int nxpcup::BorderDetector::error ( const int percentCoefficient = 100 ) const

inline

Calculate the error from the actual border (left and right) as distance from the center.

Parameters

percentCoefficient how many percent of error return (0 <-> 100) default value: 100 percent

Returns: if the value is smaller than 0, the line of left side is closer to center then the line on right side if the value is bigger than 0, then the result is opposite

int nxpcup::BorderDetector::findBorder ( const std::array< ImageType, Config::dataSize > & data )

inline

Find the maximal values from center and set position of this max value as left and right border.

Parameters

data	image from camera

void nxpcup::BorderDetector::initalize	(	const std::array< ImageType, Config::dataSize > &	data,
		const uint8_t	percentCoefficient = `100`
	)

inline

Initialize the detector and set threshold value. Need to have correct data from a camera with well visible lanes.

Parameters

data	image from camera
percentCoefficient	how many percent of error return (0 <-> 100)

int nxpcup::BorderDetector::leftBorder ( ) const

inline

Get the position of left border (0 <->Config::dataSize}).

int nxpcup::BorderDetector::leftDistanceFromCenter ( ) const

inline

Get distance just with information about left border. Take data from last callfindBorder}.

int nxpcup::BorderDetector::rightBorder ( ) const

inline

Get the position of right border (0 <->Config::dataSize}).

int nxpcup::BorderDetector::rightDistanceFromCenter ( ) const

inline

Get distance just with information about right border. Take data from last callfindBorder}.

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