CameraInfo Class Reference

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

#include <CameraInfo.h>

Inheritance diagram for CameraInfo:

[legend]Collaboration diagram for CameraInfo:

[legend]List of all members.

Public Member Functions
	CameraInfo ()
	Default constructor.
virtual void	serialize (In *in, Out *out)
	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
double	focalLengthMM
double	pixelPerMM
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 72 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, focalLengthMM_ERS7, fourthOrderRadialDistortion_ERS7, openingAngleHeight_ERS7, openingAngleWidth_ERS7, opticalCenterX_ERS7, opticalCenterY_ERS7, pixelPerMM_ERS7, and secondOrderRadialDistortion_ERS7. Referenced by VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), VLCRobotSpecialist::clusterCandidates(), GT2005RobotSpecialist::clusterCandidates(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), GT2005HeadControl::GT2005HeadControl(), VLCRobotSpecialist::scan(), and GT2005RobotSpecialist::scan().

CameraInfo::CameraInfo (  RobotDesign::Design  robotDesign  )

Constructor. Parameters: robotDesign  Selects the robot the camera info is initialized for. Definition at line 30 of file CameraInfo.cpp. References cameraResolutionHeight_ERS210, cameraResolutionHeight_ERS7, cameraResolutionWidth_ERS210, cameraResolutionWidth_ERS7, focalLength_ERS210, focalLength_ERS7, focalLengthMM_ERS210, focalLengthMM_ERS7, fourthOrderRadialDistortion_ERS210, fourthOrderRadialDistortion_ERS7, openingAngleHeight_ERS210, openingAngleHeight_ERS7, openingAngleWidth_ERS210, openingAngleWidth_ERS7, opticalCenterX_ERS210, opticalCenterX_ERS7, opticalCenterY_ERS210, opticalCenterY_ERS7, pixelPerMM_ERS210, pixelPerMM_ERS7, secondOrderRadialDistortion_ERS210, and secondOrderRadialDistortion_ERS7.

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Member Function Documentation

virtual void CameraInfo::serialize (  In *  in, Out *  out )  [inline, virtual]

Implements Streamable. Definition at line 81 of file CameraInfo.h. References focalLength, focalLengthInv, focalLengthMM, focalLenPow2, focalLenPow4, fourthOrderRadialDistortion, openingAngleHeight, openingAngleWidth, opticalCenter, pixelPerMM, resolutionHeight, resolutionWidth, secondOrderRadialDistortion, simulated, STREAM, STREAM_REGISTER_BEGIN, and STREAM_REGISTER_FINISH.

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Member Data Documentation

int CameraInfo::resolutionWidth

Definition at line 107 of file CameraInfo.h. Referenced by VLCLineFinder_DeterministicApproach::addCrossingsPercept(), SlamBorderFinder::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), SlamFlagLocator::addFlagDirection(), GT2004EdgeDetection::ballEdgeVote(), BresenhamLineScan::BresenhamLineScan(), GuideDogRobotSpecialist::calculateScanLinesParallelToHorizon(), VLCBeaconDetector::clusterPinkBeaconParts(), GT2005BeaconDetector::clusterPinkBeaconParts(), Image::convertFromHSIToYCbCr(), Image::convertFromRGBToYCbCr(), Image::convertFromYCbCrToHSI(), Image::convertFromYCbCrToRGB(), Image::convertFromYCbCrToTSL(), ColorClassImage::convertToImage(), GrayScaleImage::copyChannel(), ColorCorrector::correct(), GT2004EdgeDetection::crossEdgeVote(), VLCLineFinder_DeterministicApproach::doVerificationScan(), SlamBorderFinder::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), ImageBrightnessEstimator::execute(), BarCodeReader::execute(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), GT2004EdgeDetection::fieldEdgeVote(), VLCLineFinder_DeterministicApproach::findLines(), SlamBorderFinder::findLines(), GT2005LineFinder_DeterministicApproach::findLines(), SlamBeaconDetector::findSpecial(), GT2004EdgeDetection::findStart(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), GT2005ColorCorrector::generateCorrectedImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), ColorTableTSL::generateTSLDialogImage(), GT2004EdgeDetection::getColor(), FastSUSANNoiseReduction::getFilteredImage(), VLCFlagSpecialist::getFlagPercept(), SlamFlagSpecialist::getFlagPercept(), GT2005FlagSpecialist::getFlagPercept(), GrayScaleImage::GrayScaleImage(), GT2004EdgeDetection::horizontalEdgeVote(), Image::Image(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), GT2004EdgeDetection::insideImage(), ColorCorrector::load(), VLCRobotSpecialist::noColorPixelsBetween(), GT2005RobotSpecialist::noColorPixelsBetween(), JPEGImage2::onDestInit(), JPEGImage::onDestInit(), operator<<(), JPEGImage2::operator=(), JPEGImage::operator=(), operator>>(), LogPlayer::saveAMV(), LogPlayer::saveImages(), VLCRobotSpecialist::scan(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005RobotSpecialist::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), SlamImageProcessor::scanColumns(), GT2004EdgeDetection::scanEast(), SlamBeaconDetector::scanForFlagCharacterization(), GuideDogRobotSpecialist::scanParallelToHorizon(), GT2005CenterCircleFinder::scanSurrounding(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), GT2005FlagSpecialist::searchFlags(), serialize(), Image::setCameraInfo(), Geometry::setupRadialCorrection(), GT2005HeadControl::simpleLookAtPointRelativeToRobot(), GT2004EdgeDetection::susanVote(), JPEGImage2::toImage(), and JPEGImage::toImage().

int CameraInfo::resolutionHeight

Definition at line 108 of file CameraInfo.h. Referenced by VLCLineFinder_DeterministicApproach::addCrossingsPercept(), SlamBorderFinder::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), SlamFlagLocator::addFlagDirection(), GT2005HeadControl::aimAtLandmark(), GT2004EdgeDetection::ballEdgeVote(), BresenhamLineScan::BresenhamLineScan(), Geometry::calculateScaleFactor(), GuideDogRobotSpecialist::calculateScanLinesParallelToHorizon(), VLCBeaconDetector::clusterPinkBeaconParts(), GT2005BeaconDetector::clusterPinkBeaconParts(), Image::convertFromHSIToYCbCr(), Image::convertFromRGBToYCbCr(), Image::convertFromYCbCrToHSI(), Image::convertFromYCbCrToRGB(), Image::convertFromYCbCrToTSL(), ColorClassImage::convertToImage(), GrayScaleImage::copyChannel(), ColorCorrector::correct(), GT2004EdgeDetection::crossEdgeVote(), VLCLineFinder_DeterministicApproach::doVerificationScan(), SlamBorderFinder::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), ImageBrightnessEstimator::execute(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), GT2004EdgeDetection::fieldEdgeVote(), VLCLineFinder_DeterministicApproach::findLines(), SlamBorderFinder::findLines(), GT2005LineFinder_DeterministicApproach::findLines(), SlamBeaconDetector::findSpecial(), GT2004EdgeDetection::findStart(), ColorTableTSL::generateColorClassImage(), ColorTable64::generateColorClassImage(), ColorTable32K::generateColorClassImage(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), VLCColorCorrector::generateCorrectedImage(), SlamColorCorrector::generateCorrectedImage(), GT2005ColorCorrector::generateCorrectedImage(), ColorTable64::generateHighResColorClassImage(), ColorTable32K::generateHighResColorClassImage(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), ColorTableTSL::generateTSLDialogImage(), GT2004EdgeDetection::getColor(), FastSUSANNoiseReduction::getFilteredImage(), VLCFlagSpecialist::getFlagPercept(), SlamFlagSpecialist::getFlagPercept(), GT2005FlagSpecialist::getFlagPercept(), GT2005HeadControl::getLookAtBallAngles(), GrayScaleImage::GrayScaleImage(), Image::Image(), VLCColorCorrector::init(), SlamColorCorrector::init(), GT2005ColorCorrector::init(), GT2004EdgeDetection::insideImage(), ColorCorrector::load(), VLCRobotSpecialist::noColorPixelsBetween(), GT2005RobotSpecialist::noColorPixelsBetween(), JPEGImage2::onDestInit(), JPEGImage::onDestInit(), operator<<(), JPEGImage2::operator=(), JPEGImage::operator=(), operator>>(), LogPlayer::saveAMV(), LogPlayer::saveImages(), VLCRobotSpecialist::scan(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005RobotSpecialist::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), SlamImageProcessor::scanColumns(), SlamBeaconDetector::scanForFlagCharacterization(), GuideDogRobotSpecialist::scanParallelToHorizon(), GT2004EdgeDetection::scanSouth(), GT2005CenterCircleFinder::scanSurrounding(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), GT2005FlagSpecialist::searchFlags(), serialize(), Image::setCameraInfo(), Geometry::setupRadialCorrection(), GT2005HeadControl::simpleLookAtPointRelativeToRobot(), GT2004EdgeDetection::susanVote(), JPEGImage2::toImage(), JPEGImage::toImage(), and GT2004EdgeDetection::verticalEdgeVote().

double CameraInfo::openingAngleWidth

Definition at line 109 of file CameraInfo.h. Referenced by GT2005BasicBehaviorDirectedScanForLandmarks::execute(), serialize(), Image::setCameraInfo(), and GT2005HeadControl::simpleLookAtPointRelativeToRobot().

double CameraInfo::openingAngleHeight

Definition at line 110 of file CameraInfo.h. Referenced by serialize(), Image::setCameraInfo(), and GT2005HeadControl::simpleLookAtPointRelativeToRobot().

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 116 of file CameraInfo.h. Referenced by Geometry::angleSizeToPixelSize(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), VLCFlagSpecialist::getFlagPercept(), SlamFlagSpecialist::getFlagPercept(), GT2005FlagSpecialist::getFlagPercept(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), GT2005FlagSpecialist::searchFlags(), serialize(), and Image::setCameraInfo().

double CameraInfo::focalLengthInv

Definition at line 117 of file CameraInfo.h. Referenced by VLCFlagSpecialist::getFlagPercept(), SlamFlagSpecialist::getFlagPercept(), GT2005FlagSpecialist::getFlagPercept(), Geometry::pixelSizeToAngleSize(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), GT2005FlagSpecialist::searchFlags(), serialize(), and Image::setCameraInfo().

double CameraInfo::focalLengthMM

Definition at line 118 of file CameraInfo.h. Referenced by serialize().

double CameraInfo::pixelPerMM

Definition at line 119 of file CameraInfo.h. Referenced by serialize().

Vector2<double> CameraInfo::opticalCenter

Definition at line 120 of file CameraInfo.h. Referenced by VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), VLCFlagSpecialist::getFlagPercept(), SlamFlagSpecialist::getFlagPercept(), GT2005FlagSpecialist::getFlagPercept(), Geometry::radialDistortionCorrection(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), GT2005FlagSpecialist::searchFlags(), serialize(), and Image::setCameraInfo().

double CameraInfo::secondOrderRadialDistortion

Definition at line 121 of file CameraInfo.h. Referenced by Geometry::radialDistortionCorrection(), serialize(), and Image::setCameraInfo().

double CameraInfo::fourthOrderRadialDistortion

Definition at line 122 of file CameraInfo.h. Referenced by Geometry::radialDistortionCorrection(), serialize(), and Image::setCameraInfo().

double CameraInfo::focalLenPow2

Definition at line 123 of file CameraInfo.h. Referenced by Geometry::radialDistortionCorrection(), serialize(), and Image::setCameraInfo().

double CameraInfo::focalLenPow4

Definition at line 124 of file CameraInfo.h. Referenced by Geometry::radialDistortionCorrection(), serialize(), and Image::setCameraInfo().

bool CameraInfo::simulated

Was the image generated by the simulator? Definition at line 127 of file CameraInfo.h. Referenced by Geometry::rayFromCamera(), serialize(), 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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