Config::vision_config Class Reference
#include <Config.h>
Inheritance diagram for Config::vision_config:
Detailed Description
vision configuration options (this is a *big* section, with sub-sections)
Definition at line 248 of file Config.h.
Public Types | |
| WB_INDOOR = ocamparamWB_INDOOR_MODE | |
| WB_OUTDOOR = ocamparamWB_OUTDOOR_MODE | |
| WB_FLUORESCENT = ocamparamWB_FL_MODE | |
| GAIN_LOW = ocamparamGAIN_LOW | |
| GAIN_MID = ocamparamGAIN_MID | |
| GAIN_HIGH = ocamparamGAIN_HIGH | |
| SHUTTER_SLOW = ocamparamSHUTTER_SLOW | |
| SHUTTER_MID = ocamparamSHUTTER_MID | |
| SHUTTER_FAST = ocamparamSHUTTER_FAST | |
| enum | white_balance_levels { WB_INDOOR = ocamparamWB_INDOOR_MODE, WB_OUTDOOR = ocamparamWB_OUTDOOR_MODE, WB_FLUORESCENT = ocamparamWB_FL_MODE } |
| white balance levels supported by the Aibo's camera | |
| enum | gain_levels { GAIN_LOW = ocamparamGAIN_LOW, GAIN_MID = ocamparamGAIN_MID, GAIN_HIGH = ocamparamGAIN_HIGH } |
| gain levels supported by the Aibo's camera | |
| enum | shutter_speeds { SHUTTER_SLOW = ocamparamSHUTTER_SLOW, SHUTTER_MID = ocamparamSHUTTER_MID, SHUTTER_FAST = ocamparamSHUTTER_FAST } |
| shutter speeds supported by the Aibo's camera | |
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 |
| contains settings specific to the "RawCam" (original camera images) for streaming video over the network | |
| 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 | |
| Config::vision_config::CameraCalibration | calibration |
| These values represent a "Plumb Bob" model introduced by Brown in 1966. | |
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 Function Documentation
| void Config::vision_config::computePixel | ( | float | r_x, | |
| float | r_y, | |||
| float | r_z, | |||
| float & | x, | |||
| float & | y | |||
| ) |
| 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)
Member Data Documentation
These values represent a "Plumb Bob" model introduced by Brown in 1966.
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/
Referenced by computePixel(), computeRay(), and vision_config().
The documentation for this class was generated from the following files:
