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Config::vision_config Class Reference

#include <Config.h>

Inheritance diagram for Config::vision_config:

List of all members.


Detailed Description

vision configuration options (this is a *big* section, with sub-sections)

Definition at line 261 of file Config.h.


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...

Public Member Functions

 vision_config ()
 constructor
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)
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

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 (or RobotInfo namespace values if no camera image has been received)
plist::Primitive< 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)
plist::Primitive< 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)
Config::vision_config::RawCamConfig rawcam
Config::vision_config::SegCamConfig segcam
Config::vision_config::RegionCamConfig regioncam
Config::vision_config::CameraCalibration calibration

Static Public Attributes

static const char * dct_method_names [] = { "islow", "ifast", "float", "" }
 string names for J_DCT_METHOD

Classes

class  CameraCalibration
 These values represent a "Plumb Bob" model introduced by Brown in 1966. More...
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...

Member Enumeration Documentation

white balance levels supported by the Aibo's camera

Enumerator:
WB_INDOOR 
WB_OUTDOOR 
WB_FLUORESCENT 

Definition at line 330 of file Config.h.

gain levels supported by the Aibo's camera

Enumerator:
GAIN_LOW 
GAIN_MID 
GAIN_HIGH 

Definition at line 343 of file Config.h.

shutter speeds supported by the Aibo's camera

Enumerator:
SHUTTER_SLOW 
SHUTTER_MID 
SHUTTER_FAST 

Definition at line 356 of file Config.h.


Constructor & Destructor Documentation

Config::vision_config::vision_config (  )  [inline]

constructor

Definition at line 264 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 
)

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 precisely undo some terms of the distortion model -- this is an estimate.

Todo:
Might be able to redo the vision calibration in reverse to get another set of parameters dedicated to the inverse computation?
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 491 of file Config.cc.

void Config::vision_config::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

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 [-1,1]
[out] y y position in range [-1,1]

Definition at line 509 of file Config.cc.


Member Data Documentation

white balance shifts color spectrum in the image

Definition at line 332 of file Config.h.

Referenced by vision_config().

Increasing gain will brighten the image, at the expense of more graininess/noise.

Definition at line 345 of file Config.h.

Referenced by vision_config().

slower shutter will brighten image, but increases motion blur

Definition at line 358 of file Config.h.

Referenced by vision_config().

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 360 of file Config.h.

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

threshold file names

Definition at line 361 of file Config.h.

Referenced by vision_config().

colors definition (.col) file

Definition at line 362 of file Config.h.

Referenced by vision_config().

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

Definition at line 363 of file Config.h.

Referenced by RawCameraGenerator::calcImage(), and vision_config().

if true, RegionGenerator will calculate total area for each color (has to run through the region list for each color)

Definition at line 364 of file Config.h.

Referenced by vision_config().

const char * Config::vision_config::dct_method_names = { "islow", "ifast", "float", "" } [static]

string names for J_DCT_METHOD

Definition at line 365 of file Config.h.

pick between dct methods for jpeg compression

Definition at line 366 of file Config.h.

Referenced by image_util::encodeJPEG(), and vision_config().

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)

Definition at line 367 of file Config.h.

Referenced by RawCameraGenerator::processEvent().

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)

Definition at line 368 of file Config.h.

Referenced by RawCameraGenerator::processEvent(), and BallDetectionGenerator::testSendEvent().

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)

Definition at line 369 of file Config.h.

Referenced by RawCameraGenerator::processEvent(), and BallDetectionGenerator::testSendEvent().


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

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Generated Thu Nov 22 00:58:13 2007 by Doxygen 1.5.4