2.4 BlobfinderProxy

The BlobfinderProxy class is used to control a blobfinder device. It contains no methods. The latest color blob data is stored in blobs, a dynamically allocated 2-D array, indexed by color channel.

Attributes

unsigned short width, height;

Dimensions of the camera image, in pixels

char num_blobs[PLAYER_BLOBFINDER_MAX_CHANNELS];

Array containing the number of blobs detected on each channel

Blob* blobs[PLAYER_BLOBFINDER_MAX_CHANNELS];

Array containing arrays of the latest blob data. Each blob contains the following information:

• unsigned int color (in packed RGB)
• unsigned int area (blob area, in square pixels)
• unsigned short x, y (blob center, in pixels)
• unsigned short left, right, top, bottom (blob bounding box, in pixels)
• double range (range to blob center, in m)

For example, to access the area of the 0^th blob on channel 2, you would refer to: blobs[2][0].area.

Methods

BlobfinderProxy(PlayerClient* pc, unsigned short index,
unsigned char access='c')

Constructor. Leave the access field empty to start unconnected.

void Print()

Print out current blob information.