CameraInfo Class Reference

Matrix describing transformation from neck joint to camera. More...

#include <CameraInfo.h>

Collaboration diagram for CameraInfo:

[legend]List of all members.

Public Member Functions
	CameraInfo ()
	Default constructor.
	CameraInfo (RobotDesign::Design robotDesign)
	Constructor.
Public Attributes
int	resolutionWidth
int	resolutionHeight
double	openingAngleWidth
double	openingAngleHeight
double	focalLength
	Intrinsic camera parameters: axis skew is modelled as 0 (90° perfectly orthogonal XY) and the same has been modeled for focal axis aspect ratio; distortion is considering only 2nd and 4th order coefficients of radial model, which account for about 95% of total.
double	focalLengthInv
Vector2< double >	opticalCenter
double	secondOrderRadialDistortion
double	fourthOrderRadialDistortion
double	focalLenPow2
double	focalLenPow4
bool	simulated
	Was the image generated by the simulator?

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Detailed Description

Matrix describing transformation from neck joint to camera.

Definition at line 66 of file CameraInfo.h.

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Constructor & Destructor Documentation

CameraInfo::CameraInfo (   )

Default constructor. Sets the parameters for the ERS-7. Definition at line 12 of file CameraInfo.cpp. References cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS7, focalLength_ERS7, fourthOrderRadialDistortion_ERS7, openingAngleHeight_ERS7, openingAngleWidth_ERS7, opticalCenterX_ERS7, opticalCenterY_ERS7, and secondOrderRadialDistortion_ERS7. Referenced by GT2004HeadControl::GT2004HeadControl().

CameraInfo::CameraInfo (  RobotDesign::Design  robotDesign  )

Constructor. Parameters: robotDesign  Selects the robot the camera info is initialized for. Definition at line 28 of file CameraInfo.cpp. References cameraResolutionHeight_ERS210, cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS210, cameraResolutionWidth_ERS7, focalLength_ERS210, focalLength_ERS7, fourthOrderRadialDistortion_ERS210, fourthOrderRadialDistortion_ERS7, openingAngleHeight_ERS210, openingAngleHeight_ERS7, openingAngleWidth_ERS210, openingAngleWidth_ERS7, opticalCenterX_ERS210, opticalCenterX_ERS7, opticalCenterY_ERS210, opticalCenterY_ERS7, secondOrderRadialDistortion_ERS210, and secondOrderRadialDistortion_ERS7.

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Member Data Documentation

int CameraInfo::resolutionWidth

Definition at line 81 of file CameraInfo.h. Referenced by RasterImageProcessor::addFlag(), RasterImageProcessor::addObstaclePoints(), REdgeDetection::ballEdgeVote(), BresenhamLineScan::BresenhamLineScan(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), Image::convertFromRGBToYUV(), Image::convertFromYCbCrToHSI(), Image::convertFromYCbCrToRGB(), Image::convertFromYUVToTSL(), ColorClassImage::convertToImage(), ColorCorrector::correct(), REdgeDetection::crossEdgeVote(), BoxSpecialist::detectFreePartOfGoal(), MotionRecognition::drawDynamicDiff(), MotionRecognition::drawPixelFlow(), BarCodeReader::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), REdgeDetection::fieldEdgeVote(), REdgeDetection::findStart(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), ColorTableTSL::generateTSLDialogImage(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::getCenteredCoor(), REdgeDetection::getColor(), FastSUSANNoiseReduction::getFilteredImage(), GT2004FlagSpecialist::getFlagPercept(), CheckerboardDetector::getLineThroughPixels(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), MotionRecognition::getPixelDiff(), REdgeDetection::horizontalEdgeVote(), Image::Image(), RDefaultStrategy::init(), REdgeDetection::insideImage(), RasterImageProcessor::isValidPoint(), ColorCorrector::load(), MotionRecognition::MotionRecognition(), JPEGImage::onDestInit(), operator<<(), JPEGImage::operator=(), operator>>(), MotionRecognition::pixelInImage(), RDefaultStrategy::postScan(), RasterImageProcessor::RasterImageProcessor(), LogPlayer::saveAMV(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004ImageProcessor::scanColumns(), REdgeDetection::scanEast(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), Image::setCameraInfo(), Geometry::setupRadialCorrection(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), SimpleMotionRecognition::SimpleMotionRecognition(), REdgeDetection::susanVote(), JPEGImage::toImage(), and RBallSpecialist2::validateCircle().

int CameraInfo::resolutionHeight

Definition at line 82 of file CameraInfo.h. Referenced by RasterImageProcessor::addFlag(), RasterImageProcessor::addObstaclePoints(), GT2004HeadControl::aimAtLandmark(), REdgeDetection::ballEdgeVote(), BresenhamLineScan::BresenhamLineScan(), Geometry::calculateScaleFactor(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), Image::convertFromRGBToYUV(), Image::convertFromYCbCrToHSI(), Image::convertFromYCbCrToRGB(), Image::convertFromYUVToTSL(), ColorClassImage::convertToImage(), ColorCorrector::correct(), REdgeDetection::crossEdgeVote(), BoxSpecialist::detectFreePartOfGoal(), MotionRecognition::drawDynamicDiff(), MotionRecognition::drawPixelFlow(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), RBallSpecialist2::executePostProcessing(), REdgeDetection::fieldEdgeVote(), REdgeDetection::findStart(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), ColorTableTSL::generateTSLDialogImage(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::getCenteredCoor(), REdgeDetection::getColor(), FastSUSANNoiseReduction::getFilteredImage(), GT2004FlagSpecialist::getFlagPercept(), CheckerboardDetector::getLineThroughPixels(), GT2004HeadControl::getLookAtBallAngles(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), SimpleMotionRecognition::getMotion(), MotionRecognition::getPixelDiff(), Image::Image(), RDefaultStrategy::init(), REdgeDetection::insideImage(), RasterImageProcessor::isValidPoint(), ColorCorrector::load(), MotionRecognition::MotionRecognition(), JPEGImage::onDestInit(), operator<<(), JPEGImage::operator=(), operator>>(), MotionRecognition::pixelInImage(), RDefaultStrategy::postScan(), RasterImageProcessor::RasterImageProcessor(), LogPlayer::saveAMV(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004ImageProcessor::scanColumns(), REdgeDetection::scanSouth(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), Image::setCameraInfo(), Geometry::setupRadialCorrection(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), SimpleMotionRecognition::SimpleMotionRecognition(), REdgeDetection::susanVote(), JPEGImage::toImage(), RBallSpecialist2::validateCircle(), and REdgeDetection::verticalEdgeVote().

double CameraInfo::openingAngleWidth

Definition at line 83 of file CameraInfo.h. Referenced by RasterImageProcessor::addFlag(), CheckerboardDetector::execute(), GT2004BasicBehaviorDirectedScanForLandmarks::execute(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::MotionRecognition(), operator<<(), operator>>(), Image::setCameraInfo(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), and SimpleMotionRecognition::SimpleMotionRecognition().

double CameraInfo::openingAngleHeight

Definition at line 84 of file CameraInfo.h. Referenced by CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::MotionRecognition(), operator<<(), operator>>(), Image::setCameraInfo(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), and SimpleMotionRecognition::SimpleMotionRecognition().

double CameraInfo::focalLength

Intrinsic camera parameters: axis skew is modelled as 0 (90° perfectly orthogonal XY) and the same has been modeled for focal axis aspect ratio; distortion is considering only 2nd and 4th order coefficients of radial model, which account for about 95% of total. Definition at line 90 of file CameraInfo.h. Referenced by Geometry::angleSizeToPixelSize(), GT2004ImageProcessor::execute(), GT2004FlagSpecialist::getFlagPercept(), operator<<(), operator>>(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), and Image::setCameraInfo().

double CameraInfo::focalLengthInv

Definition at line 91 of file CameraInfo.h. Referenced by GT2004FlagSpecialist::getFlagPercept(), operator>>(), Geometry::pixelSizeToAngleSize(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), and Image::setCameraInfo().

Vector2<double> CameraInfo::opticalCenter

Definition at line 92 of file CameraInfo.h. Referenced by GT2004ImageProcessor::execute(), GT2004FlagSpecialist::getFlagPercept(), operator<<(), operator>>(), Geometry::radialDistortionCorrection(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), and Image::setCameraInfo().

double CameraInfo::secondOrderRadialDistortion

Definition at line 93 of file CameraInfo.h. Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().

double CameraInfo::fourthOrderRadialDistortion

Definition at line 94 of file CameraInfo.h. Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().

double CameraInfo::focalLenPow2

Definition at line 95 of file CameraInfo.h. Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().

double CameraInfo::focalLenPow4

Definition at line 96 of file CameraInfo.h. Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().

bool CameraInfo::simulated

Was the image generated by the simulator? Definition at line 99 of file CameraInfo.h. Referenced by operator<<(), operator>>(), Geometry::rayFromCamera(), and Image::setCameraInfo().

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

• Representations/Perception/CameraInfo.h
• Representations/Perception/CameraInfo.cpp

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