Config::vision_config Class Reference
vision configuration options (this is a *big* section, with sub-sections) More...
#include <Config.h>
Detailed Description
vision configuration options (this is a *big* section, with sub-sections)
Definition at line 274 of file Config.h.
Classes | |
| class | DepthCamConfig |
| class | RawCamConfig |
| contains settings specific to the "RawCam" (original camera images) for streaming video over the network More... | |
| class | RegionCamConfig |
| contains settings specific to the "RegionCam" (only display a box for each blob of color) for streaming over the network More... | |
| class | SegCamConfig |
| contains settings specific to the "SegCam" (segmented color images) for streaming video over the network More... | |
| class | StreamingConfig |
| contains settings related to streaming video over the network More... | |
Public Types | |
| enum | white_balance_levels { WB_INDOOR = 1, WB_OUTDOOR, WB_FLUORESCENT } |
white balance levels supported by the Aibo's camera More... | |
| enum | gain_levels { GAIN_LOW = 1, GAIN_MID, GAIN_HIGH } |
gain levels supported by the Aibo's camera More... | |
| enum | shutter_speeds { SHUTTER_SLOW = 1, SHUTTER_MID, SHUTTER_FAST } |
shutter speeds supported by the Aibo's camera More... | |
| enum | encoding_t { ENCODE_COLOR, ENCODE_SINGLE_CHANNEL, ENCODE_DEPTH } |
Public Member Functions | |
| vision_config () | |
| constructor | |
| void | computeRay (float x, float y, float &r_x, float &r_y, float &r_z) |
| provides a ray through camera origin from a generalized pixel coordinate | |
| void | computePixel (float r_x, float r_y, float r_z, float &x, float &y) |
| provides a generalized pixel hit in image by a ray going through the camera origin | |
| void | computePixelCorrected (float r_x, float r_y, float r_z, float &x, float &y) |
| provides a generalized pixel hit in image by a ray going through the camera origin that is corrected via the homography | |
Public Attributes | |
| plist::NamedEnumeration < white_balance_levels > | white_balance |
| white balance shifts color spectrum in the image | |
| plist::NamedEnumeration < gain_levels > | gain |
| Increasing gain will brighten the image, at the expense of more graininess/noise. | |
| plist::NamedEnumeration < shutter_speeds > | shutter_speed |
| slower shutter will brighten image, but increases motion blur | |
| plist::Primitive< int > | resolution |
| the resolution that object recognition system will run at -- this counts down from the maximum resolution layer, so higher numbers mean lower resolution | |
| plist::ArrayOf < plist::Primitive < std::string > > | thresh |
| threshold file names | |
| plist::Primitive< std::string > | colors |
| colors definition (.col) file | |
| plist::Primitive< bool > | restore_image |
| if true, replaces pixels holding image info with actual image pixels (as much as possible anyway) | |
| plist::Primitive< bool > | region_calc_total |
| if true, RegionGenerator will calculate total area for each color (has to run through the region list for each color) | |
| plist::NamedEnumeration < J_DCT_METHOD > | jpeg_dct_method |
| pick between dct methods for jpeg compression | |
| plist::Primitive< float > | aspectRatio |
| ratio of width to height (x_res/y_res); this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received): | |
| float | x_range |
| range of values for the x axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received): | |
| float | y_range |
| range of values for the y axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received): | |
| float | x_focalLen |
| focal length of x axis: x_range / tan(RobotInfo::CameraHorizFOV); this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received): | |
| float | y_focalLen |
| focal length of y axis: y_range / tan(RobotInfo::CameraVertFOV); this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received): | |
| Config::vision_config::RawCamConfig | rawcam |
| contains settings specific to the "RawCam" (original camera images) for streaming video over the network | |
| Config::vision_config::DepthCamConfig | depthcam |
| Config::vision_config::SegCamConfig | segcam |
| contains settings specific to the "SegCam" (segmented color images) for streaming video over the network | |
| Config::vision_config::RegionCamConfig | regioncam |
| contains settings specific to the "RegionCam" (only display a box for each blob of color) for streaming over the network | |
Static Public Attributes | |
| static const unsigned int | NUM_ENCODINGS = 3 |
| number of encodings available | |
| static const char * | encoding_names [NUM_ENCODINGS+1] = { "color", "grayscale", "depth", NULL } |
| string names for encoding_t | |
| static const char * | dct_method_names [] = { "islow", "ifast", "float", NULL } |
| string names for J_DCT_METHOD | |
Protected Member Functions | |
| void | aspectRatioChanged () |
Protected Attributes | |
| plist::PrimitiveCallbackMember < vision_config > | aspectRatioListener |
Member Enumeration Documentation
Constructor & Destructor Documentation
Member Function Documentation
| void Config::vision_config::aspectRatioChanged | ( | ) | [protected] |
provides a generalized pixel hit in image by a ray going through the camera origin
- Parameters:
-
[in] r_x x value of the ray [in] r_y y value of the ray [in] r_z z value of the ray [out] x x position in range ±x_range (±1 assuming x is the major camera axis) [out] y y position in range ±y_range (±1/aspectRatio assuming x is the major camera axis)
Definition at line 523 of file Config.cc.
Referenced by computePixelCorrected(), DualCoding::MapBuilder::isLineVisible(), DualCoding::MapBuilder::isPointVisible(), and projectShapeToCamera().
| void Config::vision_config::computePixelCorrected | ( | float | r_x, | |
| float | r_y, | |||
| float | r_z, | |||
| float & | x, | |||
| float & | y | |||
| ) |
provides a generalized pixel hit in image by a ray going through the camera origin that is corrected via the homography
- Parameters:
-
[in] r_x x value of the ray [in] r_y y value of the ray [in] r_z z value of the ray [out] x x position in range ±x_range (±1 assuming x is the major camera axis) [out] y y position in range ±y_range (±1/aspectRatio assuming x is the major camera axis)
Definition at line 532 of file Config.cc.
Referenced by RawCam::drawShapesIntoBuffer().
provides a ray through camera origin from a generalized pixel coordinate
Ideally this would take camera calibration into account, e.g. Lens Distortion for Close-Range Photogrammetry - D.C. Brown, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971. or using 'Camera Calibration Toolbox for Matlab', by Jean-Yves Bouguet: http://www.vision.caltech.edu/bouguetj/calib_doc/
However, at the moment this does a naïve computation mapping directly from field of view as specified by RobotInfo CameraFOV
- Parameters:
-
[in] x x position in range ±x_range (±1 assuming x is the major camera axis) [in] y y position in range ±y_range (±1/aspectRatio assuming x is the major camera axis) [out] r_x x value of the ray [out] r_y y value of the ray [out] r_z z value of the ray (always 1)
Definition at line 505 of file Config.cc.
Referenced by DualCoding::Lookout::findLocationFor(), and Kinematics::projectToGround().
Member Data Documentation
ratio of width to height (x_res/y_res); this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received):
Definition at line 391 of file Config.h.
Referenced by aspectRatioChanged(), computePixel(), RawCameraGenerator::doEvent(), DualCoding::MapBuilder::isLineVisible(), and DualCoding::MapBuilder::isPointVisible().
| plist::Primitive<std::string> Config::vision_config::colors |
colors definition (.col) file
Definition at line 386 of file Config.h.
Referenced by vision_config().
const char * Config::vision_config::dct_method_names = { "islow", "ifast", "float", NULL } [static] |
const char * Config::vision_config::encoding_names = { "color", "grayscale", "depth", NULL } [static] |
string names for encoding_t
Increasing gain will brighten the image, at the expense of more graininess/noise.
Definition at line 361 of file Config.h.
Referenced by vision_config().
pick between dct methods for jpeg compression
Definition at line 390 of file Config.h.
Referenced by vision_config().
const unsigned int Config::vision_config::NUM_ENCODINGS = 3 [static] |
contains settings specific to the "RawCam" (original camera images) for streaming video over the network
Referenced by JPEGGenerator::calcImage(), RawCam::doEvent(), CameraBehavior::doEvent(), RawCam::drawShapesIntoBuffer(), RawCam::getClassDescription(), RawCam::getSourceLayer(), RawCam::openPacket(), RawCam::setupServer(), Config::setValue(), vision_config(), RawCam::writeColor(), and RawCam::writeSingleChannel().
if true, RegionGenerator will calculate total area for each color (has to run through the region list for each color)
Definition at line 388 of file Config.h.
Referenced by vision_config().
contains settings specific to the "RegionCam" (only display a box for each blob of color) for streaming over the network
Referenced by RegionCam::doEvent(), RegionCam::setupServer(), vision_config(), and RegionCam::writeRegions().
the resolution that object recognition system will run at -- this counts down from the maximum resolution layer, so higher numbers mean lower resolution
Definition at line 384 of file Config.h.
Referenced by BallDetectionGenerator::doEvent(), Config::setValue(), BallDetectionGenerator::testSendEvent(), and vision_config().
if true, replaces pixels holding image info with actual image pixels (as much as possible anyway)
Definition at line 387 of file Config.h.
Referenced by RawCameraGenerator::calcImage(), and vision_config().
contains settings specific to the "SegCam" (segmented color images) for streaming video over the network
Referenced by SegCam::doEvent(), SegCam::getClassDescription(), RegionCam::getClassDescription(), SegCam::setupServer(), vision_config(), RegionCam::writeRegions(), SegCam::writeRLE(), and SegCam::writeSeg().
slower shutter will brighten image, but increases motion blur
Definition at line 374 of file Config.h.
Referenced by vision_config().
| plist::ArrayOf<plist::Primitive<std::string> > Config::vision_config::thresh |
white balance shifts color spectrum in the image
Definition at line 348 of file Config.h.
Referenced by vision_config().
focal length of x axis: x_range / tan(RobotInfo::CameraHorizFOV); this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received):
Definition at line 394 of file Config.h.
Referenced by aspectRatioChanged(), computePixel(), and computeRay().
range of values for the x axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received):
Definition at line 392 of file Config.h.
Referenced by aspectRatioChanged(), and BallDetectionGenerator::testSendEvent().
focal length of y axis: y_range / tan(RobotInfo::CameraVertFOV); this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received):
Definition at line 395 of file Config.h.
Referenced by aspectRatioChanged(), computePixel(), and computeRay().
range of values for the y axis when using generalized coordinates; this is *not* read from configuration file, but set from most recent camera image (via RawCameraGenerator, or RobotInfo namespace values until a camera image is been received):
Definition at line 393 of file Config.h.
Referenced by aspectRatioChanged(), and BallDetectionGenerator::testSendEvent().
The documentation for this class was generated from the following files:
