#include <CameraInfo.h>
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 |
Definition at line 66 of file CameraInfo.h.
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.
robotDesign | Selects the robot the camera info is initialized for. |
Definition at line 28 of file CameraInfo.cpp.
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().
Definition at line 94 of file CameraInfo.h.
Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().
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().
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().
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().
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().
Definition at line 93 of file CameraInfo.h.
Referenced by operator<<(), operator>>(), Geometry::radialDistortionCorrection(), and Image::setCameraInfo().
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().