60#ifndef wb_vision_control_status_h
61#define wb_vision_control_status_h
63#pragma clang diagnostic push
64#pragma clang diagnostic ignored "-Wreserved-id-macro"
68# define _POSIX_SOURCE 200112L
72# define _XOPEN_SOURCE 700
75# ifndef _DARWIN_C_SOURCE
76# define _DARWIN_C_SOURCE 200112L
78# ifndef __DARWIN_C_LEVEL
79# define __DARWIN_C_LEVEL 200112L
83#pragma clang diagnostic pop
150#define VISION_CONTROL_STATUS_GENERATED
151#define VISION_CONTROL_STATUS_C_STRUCT wb_vision_control_status
152#define VISION_CONTROL_STATUS_NUMBER_OF_VARIABLES 19
154#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
155#define VISION_CONTROL_STATUS_DESC_BUFFER_SIZE 4555
156#define VISION_CONTROL_STATUS_TO_STRING_BUFFER_SIZE 4291
266#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
WHITEBOARD_POSTER_STRING_CONVERSION.
enum NeuralNetworkType networkBottom
neural network to run on bottom camera
float confidence
Confidence threshold for the neural net.
int frameRate
The current framerate that the pipeline is running at.
int jpegStreamQuality
The quality to compress jpeg images at for streaming can be between 0 and 100.
enum VisionCamera selectedCamera
Which camera to use.
bool imageInput
Use /tmp/test.ai2 as pipeline image rather then camera if true.
struct timeval imageTime
the time that the image was taken that this status message refers to
bool runPipelineOnce
run the pipeline one time only if true
uint64_t frameNumber
The current frame number reported by guvison.
enum SaveFileType saveImage
Whether to save the image used in the next iteration of the pipeline to file.
int jpegStreamStride
The stride to use when streaming jpeg images.
char colourCalibration[10]
the DLC file to use for segmentation, searched in $HOME/data/ with the .dlc extension
int chooseCamera
Choose which camera to run on (0-Top, 1-Bottom, 2-Both)
bool saveClassifiedImage
Whether to save the classified version of the image used in the next iteration of the pipeline to fil...
enum NamedPipeline pipeline
vision pipeline to be run
enum NeuralNetworkType networkTop
neural network to run on top camera
enum Resolutions cameraResolution
Resolution that the camera should caputre images at.
bool pipelineRunning
Whether the pipeline is running or not.
enum StreamingType streamingSource
The type of streaming to be used.
const char * wb_vision_control_status_to_string(const struct wb_vision_control_status *self, char *toString, size_t bufferSize)
Convert to a string.
size_t wb_vision_control_status_from_network_serialised(const char *src, struct wb_vision_control_status *dst)
Network stream deserialisation.
struct wb_vision_control_status * wb_vision_control_status_from_string(struct wb_vision_control_status *self, const char *str)
Convert from a string.
SaveFileType
List of file types that vision can save images as.
@ AI3
Raw YUV422 Image, with JSON image info blob.
NamedPipeline
Enum listing available vision pipelines.
@ Streaming
Pipeline that just streams images.
@ OpenChallenge
2013 Open Challange Pipeline
@ HTWK
Pipeline that runs htwk's image algorithms and post soccer object info to mipal whiteboard.
@ OpenCVFaces
Pipeline to recognise faces.
@ Neural_Network
Pipeline to rec objects with a nn.
size_t wb_vision_control_status_to_network_serialised(const struct wb_vision_control_status *self, char *dst)
WHITEBOARD_POSTER_STRING_CONVERSION.
Resolutions
Resolutions Supported by Vision.
StreamingType
Streaming modes available in vision.
@ Recognized
Image showing only objects that have been recognised NYI.
@ Classified
Images that has been segmented into recognised colours.
@ Normal
Images straight from camera.
const char * wb_vision_control_status_description(const struct wb_vision_control_status *self, char *descString, size_t bufferSize)
Convert to a description string.
VisionCamera
Enum of available camera's that can be used by vision.
@ Bottom
Bottom Camera on the nao.
@ Top
Top Camera on the nao.
@ NUM_VISION_CAMERAS
Number of cameras used in vision.
NeuralNetworkType
List of neural network architectures that vision can run.
@ v2
Current default (separable convolutions)
@ BallOnly
PB_FCN v2 binary classifier.
@ VGANet
PB_FCN on VGA resolution.