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Config::vision_config Struct Reference

#include <Config.h>

List of all members.


Detailed Description

vision information

Definition at line 41 of file Config.h.

Public Types

enum  encoding_t { ENCODE_COLOR, ENCODE_SINGLE_CHANNEL }
 type of information to send, stored in Config::vision_config::rawcam_encoding More...
enum  compression_t { COMPRESS_NONE, COMPRESS_JPEG, COMPRESS_RLE }
 compression format to use, stored in Config::vision_config::rawcam_compression More...

Public Member Functions

void computeRay (float x, float y, float &r_x, float &r_y, float &r_z)
 provides a ray from camera through pixel in image
 vision_config ()
 constructor

Public Attributes

int white_balance
 white balance
int gain
 gain
int shutter_speed
 shutter speed
int resolution
 resolution
float horizFOV
 horizontal field of view of camera, in radians
float vertFOV
 vertical field of view of camera, in radians
float focal_length
 focal length of the camera (mm)
std::vector< std::string > thresh
 thresholds
char colors [50]
 colors
int rawcam_port
 port to send raw frames on
int rawcam_transport
 transport protocol: 0 for udp, 1 for tcp
int rle_port
 port to send RLE frames on
int rle_transport
 transport protocol: 0 for udp, 1 for tcp
int obj_port
 port to send object info on
bool restore_image
 if true, replaces pixels holding image info with actual image pixels (as much as possible anyway)
J_DCT_METHOD jpeg_dct_method
 pick between dct methods for jpeg compression
encoding_t rawcam_encoding
 holds whether to send color or single channel
int rawcam_channel
 RawCameraGenerator::channel_id_t, if raw_encoding is single channel, this holds the channel to send (computed from rawcam_encoding, not set directly).
compression_t rawcam_compression
 holds whether to send jpeg compression
int rawcam_compress_quality
 0-100, compression quality (currently only used by jpeg)
int rawcam_y_skip
 resolution level to transmit y channel at
int rawcam_uv_skip
 resolution level to transmit uv channel at (ignored for jpeg compression)
int rlecam_skip
 resolution level to transmit segmented images at
int rlecam_channel
 channel of RLEGenerator to send
compression_t rlecam_compression
 what compression to use on the segmented image


Member Enumeration Documentation

enum Config::vision_config::compression_t
 

compression format to use, stored in Config::vision_config::rawcam_compression

Enumeration values:
COMPRESS_NONE  no compression (other than subsampling)
COMPRESS_JPEG  JPEG compression.
COMPRESS_RLE  RLE compression.

Definition at line 68 of file Config.h.

enum Config::vision_config::encoding_t
 

type of information to send, stored in Config::vision_config::rawcam_encoding

Enumeration values:
ENCODE_COLOR  send Y, U, and V channels
ENCODE_SINGLE_CHANNEL  send only a single channel (which channel to send is stored in Config::vision_config::rawcam_channel) This is also used for all seg cam images

Definition at line 60 of file Config.h.


Constructor & Destructor Documentation

Config::vision_config::vision_config  )  [inline]
 

constructor

Definition at line 96 of file Config.h.


Member Function Documentation

void Config::vision_config::computeRay float  x,
float  y,
float &  r_x,
float &  r_y,
float &  r_z
[inline]
 

provides a ray from camera through pixel in image

Hopefully we'll eventually upgrade this to account for lens distortion

Parameters:
[in] x x position in range [-1,1]
[in] y y position in range [-1,1]
[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 89 of file Config.h.


Member Data Documentation

char Config::vision_config::colors[50]
 

colors

Definition at line 50 of file Config.h.

Referenced by Config::setValue().

float Config::vision_config::focal_length
 

focal length of the camera (mm)

Definition at line 48 of file Config.h.

Referenced by Config::setValue().

int Config::vision_config::gain
 

gain

Definition at line 43 of file Config.h.

Referenced by Config::setValue().

float Config::vision_config::horizFOV
 

horizontal field of view of camera, in radians

Definition at line 46 of file Config.h.

Referenced by Config::setValue().

J_DCT_METHOD Config::vision_config::jpeg_dct_method
 

pick between dct methods for jpeg compression

Definition at line 57 of file Config.h.

Referenced by JPEGGenerator::calcImage(), and Config::setValue().

int Config::vision_config::obj_port
 

port to send object info on

Definition at line 55 of file Config.h.

Referenced by Config::setValue().

int Config::vision_config::rawcam_channel
 

RawCameraGenerator::channel_id_t, if raw_encoding is single channel, this holds the channel to send (computed from rawcam_encoding, not set directly).

Definition at line 65 of file Config.h.

Referenced by CameraBehavior::processEvent(), Config::setValue(), RawCamBehavior::writeColor(), and RawCamBehavior::writeSingleChannel().

int Config::vision_config::rawcam_compress_quality
 

0-100, compression quality (currently only used by jpeg)

Definition at line 75 of file Config.h.

Referenced by JPEGGenerator::calcImage(), and Config::setValue().

compression_t Config::vision_config::rawcam_compression
 

holds whether to send jpeg compression

Definition at line 73 of file Config.h.

Referenced by RawCamBehavior::openPacket(), CameraBehavior::processEvent(), Config::setValue(), RawCamBehavior::writeColor(), and RawCamBehavior::writeSingleChannel().

encoding_t Config::vision_config::rawcam_encoding
 

holds whether to send color or single channel

Definition at line 64 of file Config.h.

Referenced by RawCamBehavior::openPacket(), RawCamBehavior::processEvent(), CameraBehavior::processEvent(), and Config::setValue().

int Config::vision_config::rawcam_port
 

port to send raw frames on

Definition at line 51 of file Config.h.

Referenced by RawCamBehavior::DoStart(), and Config::setValue().

int Config::vision_config::rawcam_transport
 

transport protocol: 0 for udp, 1 for tcp

Definition at line 52 of file Config.h.

Referenced by RawCamBehavior::DoStart(), and Config::setValue().

int Config::vision_config::rawcam_uv_skip
 

resolution level to transmit uv channel at (ignored for jpeg compression)

Definition at line 77 of file Config.h.

Referenced by JPEGGenerator::calcImage(), Config::setValue(), and RawCamBehavior::writeColor().

int Config::vision_config::rawcam_y_skip
 

resolution level to transmit y channel at

Definition at line 76 of file Config.h.

Referenced by JPEGGenerator::calcImage(), Config::setValue(), RawCamBehavior::writeColor(), and RawCamBehavior::writeSingleChannel().

int Config::vision_config::resolution
 

resolution

Definition at line 45 of file Config.h.

Referenced by BallDetectionGenerator::processEvent(), Config::setValue(), and BallDetectionGenerator::testSendEvent().

bool Config::vision_config::restore_image
 

if true, replaces pixels holding image info with actual image pixels (as much as possible anyway)

Definition at line 56 of file Config.h.

Referenced by RawCameraGenerator::calcImage(), and Config::setValue().

int Config::vision_config::rle_port
 

port to send RLE frames on

Definition at line 53 of file Config.h.

Referenced by SegCamBehavior::DoStart(), SegCamBehavior::getClassDescription(), RawCamBehavior::getClassDescription(), and Config::setValue().

int Config::vision_config::rle_transport
 

transport protocol: 0 for udp, 1 for tcp

Definition at line 54 of file Config.h.

Referenced by SegCamBehavior::DoStart(), and Config::setValue().

int Config::vision_config::rlecam_channel
 

channel of RLEGenerator to send

Definition at line 79 of file Config.h.

Referenced by Config::setValue(), SegCamBehavior::writeRLE(), and SegCamBehavior::writeSeg().

compression_t Config::vision_config::rlecam_compression
 

what compression to use on the segmented image

Definition at line 80 of file Config.h.

Referenced by SegCamBehavior::processEvent(), and Config::setValue().

int Config::vision_config::rlecam_skip
 

resolution level to transmit segmented images at

Definition at line 78 of file Config.h.

Referenced by Config::setValue(), SegCamBehavior::writeRLE(), and SegCamBehavior::writeSeg().

int Config::vision_config::shutter_speed
 

shutter speed

Definition at line 44 of file Config.h.

Referenced by Config::setValue().

std::vector<std::string> Config::vision_config::thresh
 

thresholds

Definition at line 49 of file Config.h.

Referenced by Config::setValue().

float Config::vision_config::vertFOV
 

vertical field of view of camera, in radians

Definition at line 47 of file Config.h.

Referenced by Config::setValue().

int Config::vision_config::white_balance
 

white balance

Definition at line 42 of file Config.h.

Referenced by Config::setValue().


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