CameraLineFollower Class Reference

Simple line-following algorithm for grayscale camera images. More...

#include <CameraLineFollower.h>

Inheritance diagram for CameraLineFollower:

Collaboration diagram for CameraLineFollower:

Classes
struct	Result

Public Member Functions
	CameraLineFollower (uint8_t threshold=80, int minWidth=3)
Result	process (const uint8_t *image, size_t width, size_t height)
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Attributes
uint8_t	_threshold
int	_minWidth
int	_lastPosition
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

Simple line-following algorithm for grayscale camera images.

This class scans a horizontal row of a grayscale image (e.g., from a camera or line sensor) to detect the center of the widest dark line (such as a tape or path on the floor). It is useful for basic line-following robots.

Features:

• Scans a row near the bottom of the image for the widest dark segment
• Returns the x position of the detected line center and error from image center
• Configurable pixel threshold and minimum line width
• Remembers last seen line position for robustness
• Lightweight, suitable for embedded/Arduino use

Note

Expected format:

• The input image should be a grayscale buffer (uint8_t*)
• The pixel intensity is expected to be in the range 0 (black) to 255 (white).
• The layout of the image buffer should be row-major (i.e., pixel at (x,y) is at index y*width + x).
• on ESP32 e.g. PIXFORMAT_GRAYSCALE, FRAMESIZE_QVGA (320 x 240)

Usage Example:

CameraLineFollower follower(80, 5); // threshold=80, minWidth=5
auto result = follower.process(image, width, height);
if (result.found) {
  // Use result.position or result.error for steering
}

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

• src/TinyRobotics/sensors/CameraLineFollower.h