Class GripperCamera

java.lang.Object
  GripperCamera

 class GripperCamera
extends java.lang.Object

The class GripperCamera contains methods to perform various operations on the camera mounted on the AF2 gripper unit. These methods allow the position of a fibre to be determined, and also allow the overlay of a centroid marker and fibre number.

Nested Class Summary

(package private) class

GripperCamera.GripperCameraOverlay The gripper camera overlay class.

Field Summary

private int	HEIGHT The height of the Camera image
private int	QUADRANT_OFFSET Offset to provide a full screen robot offset
private boolean	SIMULATION
private double	TVROTATION
private double	TVSCALE_X
private double	TVSCALE_Y
private int	WIDTH The width of the Camera image

Constructor Summary

GripperCamera()

Method Summary

(package private) void	clearOverlay() Clear the TV overlay display
private java.awt.Point	convertToRobotCoordinateFrame(java.awt.Point thePoint) Convert tv camera coordinates to robot coordinate frame
(package private) java.awt.Point	getFibrePosition() Get the fibre's centroid position
(package private) java.awt.Point	getFibrePosition(Fibre theFibre) Get the position of a fibre in the robot's coordinate system, where 0, 0 is roughly the centre of the TV image The TV window is [1:760,1:570].
(package private) int	getHeight() Get the height of the camera's frame
(package private) int	getQuadrantOffset() Get the size of the camera's quadrant offset
(package private) int	getWidth() Get the width of the camera's frame
(package private) boolean	isFibreThere() Is a fibre visible in the TV camera
(package private) void	overlayCentroidMarker(int x, int y)
(package private) void	overlayFibreNumber(Fibre theFibre) Overlay a fibre number on the TV output

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

SIMULATION

private final boolean SIMULATION

See Also:

Constant Field Values

TVSCALE_X

private final double TVSCALE_X

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Constant Field Values

TVSCALE_Y

private final double TVSCALE_Y

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Constant Field Values

TVROTATION

private final double TVROTATION

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Constant Field Values

WIDTH

private final int WIDTH

The width of the Camera image

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Constant Field Values

HEIGHT

private final int HEIGHT

The height of the Camera image

See Also:

Constant Field Values

QUADRANT_OFFSET

private final int QUADRANT_OFFSET

Offset to provide a full screen robot offset

See Also:

Constant Field Values

Constructor Detail

GripperCamera

GripperCamera()

Method Detail

isFibreThere

boolean isFibreThere()

Is a fibre visible in the TV camera

Returns:

Boolean to indicate whether the fibre is visible

getFibrePosition

java.awt.Point getFibrePosition(Fibre theFibre)

Get the position of a fibre in the robot's coordinate system, where 0, 0 is roughly the centre of the TV image The TV window is [1:760,1:570].

Parameters:

theFibre - The fibre who's position is to be determined

Returns:

The position of the fibre in the Robot's coordinate system

getFibrePosition

java.awt.Point getFibrePosition()

Get the fibre's centroid position

Returns:

The fibre's centroid

overlayFibreNumber

void overlayFibreNumber(Fibre theFibre)

Overlay a fibre number on the TV output

Parameters:

theFibre - The fibre

overlayCentroidMarker

void overlayCentroidMarker(int x,
                           int y)

clearOverlay

void clearOverlay()

Clear the TV overlay display

getWidth

int getWidth()

Get the width of the camera's frame

Returns:

the width of the camera's frame

getHeight

int getHeight()

Get the height of the camera's frame

Returns:

the height of the camera's frame

getQuadrantOffset

int getQuadrantOffset()

Get the size of the camera's quadrant offset

Returns:

the size of the camera's quadrant offset

convertToRobotCoordinateFrame

private java.awt.Point convertToRobotCoordinateFrame(java.awt.Point thePoint)

Convert tv camera coordinates to robot coordinate frame

Parameters:

thePoint - The camera coordinates

Returns:

The position relative to the robot coordinate frame of reference