Config::vision_config Struct Reference#include <Config.h>
List of all members.
Detailed Description
vision information
Definition at line 52 of file Config.h.
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Intrinsic Parameters |
Lens Distortion for Close-Range Photogrammetry - D.C. Brown, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971.
Can be computated by 'Camera Calibration Toolbox for Matlab', by Jean-Yves Bouguet: http://www.vision.caltech.edu/bouguetj/calib_doc/
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void | computeRay (float x, float y, float &r_x, float &r_y, float &r_z) |
| provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around)
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void | computePixel (float r_x, float r_y, float r_z, float &x, float &y) |
| provides a pixel hit in image by a ray going through the camera frame
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float | focal_len_x |
| focal length of camera, in pixels, K11
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float | focal_len_y |
| focal length of camera, in pixels, K22
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float | principle_point_x |
| center of optical projection, K13
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float | principle_point_y |
| center of optical projection, K23
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float | skew |
| CCD skew, K12 = skew*focal_len_x.
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float | kc1_r2 |
| r-squared radial distortion
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float | kc2_r4 |
| r to the 4 radial distortion
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float | kc5_r6 |
| r to the 6 radial distortion
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float | kc3_tan1 |
| first tangential correction term
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float | kc4_tan2 |
| second tangential correctiont term
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unsigned int | calibration_res_x |
| provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around)
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unsigned int | calibration_res_y |
| provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around)
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Public Types |
enum | encoding_t { ENCODE_COLOR,
ENCODE_SINGLE_CHANNEL
} |
| type of information to send, stored in Config::vision_config::rawcam_encoding More...
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enum | compression_t { COMPRESS_NONE,
COMPRESS_JPEG,
COMPRESS_RLE
} |
| compression format to use, stored in Config::vision_config::rawcam_compression More...
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Public Member Functions |
| vision_config () |
| constructor
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Public Attributes |
int | white_balance |
| white balance
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int | gain |
| gain
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int | shutter_speed |
| shutter speed
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int | resolution |
| resolution
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std::vector< std::string > | thresh |
| thresholds
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char | colors [50] |
| colors
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int | rawcam_port |
| port to send raw frames on
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int | rawcam_transport |
| transport protocol: 0 for udp, 1 for tcp
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unsigned int | rawcam_interval |
| interval between images: 0 for fast-as-possible, 100 for 10 FPS, 200 for 5 FPS, etc.
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int | rle_port |
| port to send RLE frames on
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int | rle_transport |
| transport protocol: 0 for udp, 1 for tcp
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unsigned int | rle_interval |
| interval between images: 0 for fast-as-possible, 100 for 10 FPS, 200 for 5 FPS, etc.
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int | region_port |
| port to send Region information on
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int | region_transport |
| transport protocol: 0 for udp, 1 for tcp
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int | obj_port |
| port to send object info on
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bool | restore_image |
| if true, replaces pixels holding image info with actual image pixels (as much as possible anyway)
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J_DCT_METHOD | jpeg_dct_method |
| pick between dct methods for jpeg compression
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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 (or RobotInfo namespace values if no camera image has been received)
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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 (or RobotInfo namespace values if no camera image has been received)
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float | y_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 (or RobotInfo namespace values if no camera image has been received)
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encoding_t | rawcam_encoding |
| holds whether to send color or single channel
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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).
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compression_t | rawcam_compression |
| holds whether to send jpeg compression
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int | rawcam_compress_quality |
| 0-100, compression quality (currently only used by jpeg)
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int | rawcam_y_skip |
| resolution level to transmit y channel at
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int | rawcam_uv_skip |
| resolution level to transmit uv channel at
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int | rlecam_skip |
| resolution level to transmit segmented images at
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int | rlecam_channel |
| channel of RLEGenerator to send
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compression_t | rlecam_compression |
| what compression to use on the segmented image
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int | regioncam_skip |
| resolution level to transmit segmented images at
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Member Enumeration Documentation
Constructor & Destructor Documentation
Config::vision_config::vision_config |
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Member Function Documentation
void Config::vision_config::computePixel |
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float |
r_x, |
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float |
r_y, |
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float |
r_z, |
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float & |
x, |
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float & |
y |
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[inline] |
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provides a pixel hit in image by a ray going through the camera frame
Hopefully we'll eventually upgrade this to account for lens distortion - Parameters:
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[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 [-1,1] |
[out] | y | y position in range [-1,1] |
Definition at line 143 of file Config.h.
Referenced by DrawSkeletonBehavior::getCameraPoint(), and StareAtPawBehavior2::processEvent(). |
void Config::vision_config::computeRay |
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float |
x, |
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float |
y, |
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float & |
r_x, |
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float & |
r_y, |
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float & |
r_z |
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[inline] |
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provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around)
We can't undo some terms of the distortion model -- this is an estimate. - Parameters:
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[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 124 of file Config.h. |
Member Data Documentation
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provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around)
We can't undo some terms of the distortion model -- this is an estimate. - Parameters:
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[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 114 of file Config.h.
Referenced by computePixel(), computeRay(), and Config::setValue(). |
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provides a ray from camera through pixel in image; where possible, use computePixel for better accuracy (i.e. try to always move from world to camera instead of the other way around)
We can't undo some terms of the distortion model -- this is an estimate. - 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 115 of file Config.h.
Referenced by computePixel(), computeRay(), and Config::setValue(). |
The documentation for this struct was generated from the following file:
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