CameraInfo Class Reference

#include <CameraInfo.h>

List of all members.

Public Member Functions

 CameraInfo ()
 CameraInfo (RobotDesign::Design robotDesign)

Public Attributes

int resolutionWidth
int resolutionHeight
double openingAngleWidth
double openingAngleHeight
double focalLength
double focalLengthInv
Vector2< double > opticalCenter
double secondOrderRadialDistortion
double fourthOrderRadialDistortion
double focalLenPow2
double focalLenPow4
bool simulated


Detailed Description

Matrix describing transformation from neck joint to camera.

Definition at line 66 of file CameraInfo.h.


Constructor & Destructor Documentation

CameraInfo::CameraInfo (  ) 

Default constructor. Sets the parameters for the ERS-7.

Definition at line 12 of file CameraInfo.cpp.

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.


Member Data Documentation

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(), Geometry::calculateAnglesForPoint(), Geometry::calculateHorizon(), Geometry::calculatePointByAngles(), GT2004ImageProcessor::execute(), Geometry::getDistanceBySize(), GT2004FlagSpecialist::getFlagPercept(), Geometry::getSizeByDistance(), operator<<(), operator>>(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), and Image::setCameraInfo().

double CameraInfo::focalLengthInv

Definition at line 91 of file CameraInfo.h.

Referenced by GT2004BallSpecialist::addBallPercept(), Geometry::calculatePointOnField(), GT2004FlagSpecialist::getFlagPercept(), operator>>(), Geometry::pixelSizeToAngleSize(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), and Image::setCameraInfo().

double CameraInfo::focalLenPow2

Definition at line 95 of file CameraInfo.h.

Referenced by Geometry::getDistanceBySize(), 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().

double CameraInfo::fourthOrderRadialDistortion

Definition at line 94 of file CameraInfo.h.

Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().

double CameraInfo::openingAngleHeight

Definition at line 84 of file CameraInfo.h.

Referenced by RBridgeSpecialist::calculatePointOnField(), BoxSpecialist::calculatePointOnField(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::MotionRecognition(), operator<<(), operator>>(), OpenGLMethods::paintAngleOfViewToOpenGLList(), PaintMethodsWin32::paintCameraMatrixToCDC(), Image::setCameraInfo(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), and SimpleMotionRecognition::SimpleMotionRecognition().

double CameraInfo::openingAngleWidth

Definition at line 83 of file CameraInfo.h.

Referenced by RasterImageProcessor::addFlag(), RBridgeSpecialist::calculateAnglesForPoint(), BoxSpecialist::calculateAnglesForPoint(), RBridgeSpecialist::calculatePointOnField(), BoxSpecialist::calculatePointOnField(), GT2004BasicBehaviorDirectedScanForLandmarks::execute(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::MotionRecognition(), operator<<(), operator>>(), OpenGLMethods::paintAngleOfViewToOpenGLList(), PaintMethodsWin32::paintCameraMatrixToCDC(), DrawingMethods::paintFreePartOfGoalModelForImageView(), DrawingMethods::paintObstaclesModelForImageView(), DrawingMethods::paintPSDPerceptForImageView(), GoalRecognizer::scanHorizontalForGoals(), GT2004GoalRecognizer::scanHorizontalForGoals(), Image::setCameraInfo(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), and SimpleMotionRecognition::SimpleMotionRecognition().

Vector2<double> CameraInfo::opticalCenter

Definition at line 92 of file CameraInfo.h.

Referenced by GT2004BallSpecialist::addBallPercept(), Geometry::calculateAnglesForPoint(), Geometry::calculateHorizon(), Geometry::calculatePointByAngles(), Geometry::calculatePointOnField(), GT2004ImageProcessor::execute(), Geometry::getDistanceBySize(), GT2004FlagSpecialist::getFlagPercept(), operator<<(), operator>>(), Geometry::radialDistortionCorrection(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), and Image::setCameraInfo().

int CameraInfo::resolutionHeight

Definition at line 82 of file CameraInfo.h.

Referenced by RasterImageProcessor::addFlag(), RasterImageProcessor::addObstaclePoints(), GT2004HeadControl::aimAtLandmark(), REdgeDetection::ballEdgeVote(), BresenhamLineScan::BresenhamLineScan(), RBridgeSpecialist::calculateAnglesForPoint(), BoxSpecialist::calculateAnglesForPoint(), RBridgeSpecialist::calculatePointOnField(), BoxSpecialist::calculatePointOnField(), Geometry::calculateScaleFactor(), GoalRecognizer::calculateScanLinesParallelToHorizon(), GT2004GoalRecognizer::calculateScanLinesParallelToHorizon(), GoalRecognizer::calculateVerticalGoalScanLines(), GT2004GoalRecognizer::calculateVerticalGoalScanLines(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), CImageViewerDlgBar::changeLayout(), LandmarkPercept::checkVisibility(), EMGaussianMixture::clusterImage(), Image::convertFromRGBToYUV(), Image::convertFromYCbCrToHSI(), Image::convertFromYCbCrToRGB(), Image::convertFromYUVToTSL(), AnisotropicImage::copyFromImage(), AnisotropicImage::copyToImage(), REdgeDetection::crossEdgeVote(), BoxSpecialist::detectFreePartOfGoal(), HSIColorTableToolCore::doImageSegmentation(), ImageView::draw(), MotionRecognition::drawDynamicDiff(), MotionRecognition::drawPixelFlow(), VariableLighting::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), RBallSpecialist2::executePostProcessing(), REdgeDetection::fieldEdgeVote(), GT2004BallSpecialist::findEndOfBall(), GT2004FlagSpecialist::findEndOfFlag(), REdgeDetection::findStart(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::getCenteredCoor(), REdgeDetection::getColor(), FastSUSANNoiseReduction::getFilteredImage(), GT2004FlagSpecialist::getFlagPercept(), CheckerboardDetector::getLineThroughPixels(), GT2004HeadControl::getLookAtBallAngles(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), SimpleMotionRecognition::getMotion(), MotionRecognition::getPixelDiff(), CColorTable64DlgBar::handleMessage(), CColorSpaceDlgBar::handleMessage(), Image::Image(), RDefaultStrategy::init(), PanoramaImageProcessor::initialize(), REdgeDetection::insideImage(), RasterImageProcessor::isValidPoint(), MotionRecognition::MotionRecognition(), CColorTable64DlgBar::OnHighRes(), CColorSpaceDlgBar::OnHScroll(), CColorTable64DlgBar::OnInitDialog(), CColorTable64DlgBar::OnLButtonDown(), CColorTable64DlgBar::OnMouseMove(), CColorTable64DlgBar::OnPaint(), CColorTable64DlgBar::OnRButtonDown(), CColorTable64DlgBar::OnRecordClick(), CColorTable64DlgBar::OnRecordNewImage(), operator<<(), JPEGImage::operator=(), operator>>(), CColorSpaceDlgBar::paintBoundingCube(), DrawingMethods::paintFreePartOfGoalModelForImageView(), DrawingMethods::paintObstaclesModelForImageView(), DrawingMethods::paintPSDPerceptForImageView(), MotionRecognition::pixelInImage(), RDefaultStrategy::postScan(), ScanningGrid::prepareImageInfo(), RasterImageProcessor::RasterImageProcessor(), CColorTable64DlgBar::removeColorClassFromImage(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004ImageProcessor::scanColumns(), REdgeDetection::scanSouth(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), Image::setCameraInfo(), Geometry::setupRadialCorrection(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), SimpleMotionRecognition::SimpleMotionRecognition(), CColorTable64DlgBar::smoothImage(), REdgeDetection::susanVote(), JPEGImage::toImage(), RBallSpecialist2::validateCircle(), REdgeDetection::verticalEdgeVote(), and EMGaussianMixture::visualizeClusters().

int CameraInfo::resolutionWidth

Definition at line 81 of file CameraInfo.h.

Referenced by RasterImageProcessor::addFlag(), RasterImageProcessor::addObstaclePoints(), REdgeDetection::ballEdgeVote(), BresenhamLineScan::BresenhamLineScan(), RBridgeSpecialist::calculateAnglesForPoint(), BoxSpecialist::calculateAnglesForPoint(), Geometry::calculateHorizon(), RBridgeSpecialist::calculatePointOnField(), BoxSpecialist::calculatePointOnField(), GoalRecognizer::calculateScanLinesParallelToHorizon(), GT2004GoalRecognizer::calculateScanLinesParallelToHorizon(), GoalRecognizer::calculateVerticalGoalScanLines(), GT2004GoalRecognizer::calculateVerticalGoalScanLines(), ObstacleAvoiderOnGreenFieldERS7::calibrate(), ObstacleAvoiderOnGreenField::calibrate(), CImageViewerDlgBar::changeLayout(), LandmarkPercept::checkVisibility(), EMGaussianMixture::clusterImage(), Image::convertFromRGBToYUV(), Image::convertFromYCbCrToHSI(), Image::convertFromYCbCrToRGB(), Image::convertFromYUVToTSL(), AnisotropicImage::copyFromImage(), AnisotropicImage::copyToImage(), REdgeDetection::crossEdgeVote(), BoxSpecialist::detectFreePartOfGoal(), HSIColorTableToolCore::doImageSegmentation(), ImageView::draw(), MotionRecognition::drawDynamicDiff(), MotionRecognition::drawPixelFlow(), VariableLighting::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), REdgeDetection::fieldEdgeVote(), GT2004BallSpecialist::findEndOfBall(), GT2004FlagSpecialist::findEndOfFlag(), REdgeDetection::findStart(), CheckerboardDetector::getAngleBetweenScreenPoints(), MotionRecognition::getAngleYZ(), MotionRecognition::getCenteredCoor(), REdgeDetection::getColor(), FastSUSANNoiseReduction::getFilteredImage(), GT2004FlagSpecialist::getFlagPercept(), CheckerboardDetector::getLineThroughPixels(), CheckerboardDetector::getMiddleAndLengthOfPerpendicular(), SimpleMotionRecognition::getMotion(), MotionRecognition::getPixelDiff(), CColorSpaceDlgBar::handleMessage(), REdgeDetection::horizontalEdgeVote(), Image::Image(), RDefaultStrategy::init(), PanoramaImageProcessor::initialize(), REdgeDetection::insideImage(), RasterImageProcessor::isValidPoint(), MotionRecognition::MotionRecognition(), CColorSpaceDlgBar::OnHScroll(), CColorTable64DlgBar::OnInitDialog(), CColorTable64DlgBar::OnLButtonDown(), CColorTable64DlgBar::OnMouseMove(), CColorTable64DlgBar::OnRButtonDown(), CColorTable64DlgBar::OnRecordClick(), CColorTable64DlgBar::OnRecordNewImage(), operator<<(), JPEGImage::operator=(), operator>>(), CColorSpaceDlgBar::paintBoundingCube(), DrawingMethods::paintFreePartOfGoalModelForImageView(), DrawingMethods::paintObstaclesModelForImageView(), DrawingMethods::paintPSDPerceptForImageView(), MotionRecognition::pixelInImage(), RDefaultStrategy::postScan(), ScanningGrid::prepareImageInfo(), RasterImageProcessor::RasterImageProcessor(), CColorTable64DlgBar::removeColorClassFromImage(), LogPlayer::saveImages(), GT2004ImageProcessor::scan(), GT2004ImageProcessor::scanColumns(), REdgeDetection::scanEast(), GT2004BallSpecialist::searchBall(), GT2004FlagSpecialist::searchFlags(), Image::setCameraInfo(), Geometry::setupRadialCorrection(), GT2004HeadControl::simpleLookAtPointRelativeToRobot(), SimpleMotionRecognition::SimpleMotionRecognition(), CColorTable64DlgBar::smoothImage(), REdgeDetection::susanVote(), JPEGImage::toImage(), RBallSpecialist2::validateCircle(), and EMGaussianMixture::visualizeClusters().

double CameraInfo::secondOrderRadialDistortion

Definition at line 93 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 Geometry::calculateAnglesForPoint(), Geometry::calculatePointOnField(), operator<<(), operator>>(), Geometry::rayFromCamera(), GT2004ImageProcessor::scan(), and Image::setCameraInfo().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:19:40 2006 for DT2005.panorama by  doxygen 1.4.7