#include <ucammount.h>

Inheritance diagram for UCamMounted:

Public Member Functions
virtual void	createVars ()

bool	getMtoPix (UPosition pos3D, bool useRad, float pixx, float pixy)

UPosition	getPos ()

UPosition	getPosCC ()

const char *	getPosName ()

UPosRot	getPosRot ()

URotation	getRot ()

URotation	getRotCC ()

bool	isClientInCharge (int client)

bool	loadCamSettings (Uconfig ini, const char mountkey)

virtual bool	logImage (UImage *img)

bool	saveCamSettings (Uconfig ini, const char mountkey)

void	setClientInCharge (int client)

void	setImageLogging (UImageLog *value)

void	setMountName (const char *posName)

void	setPosOnRobot (UPosition pos, URotation rot)

void	setPosOnRobot (UPosRot *pose3d)

void	setPosOnRobotCC (UPosition pos, URotation rot)

	UCamMounted (UCamDevBase *device)

virtual	~UCamMounted ()

Public Member Functions inherited from UCamRad
UCamPar *	getCamPar ()

int	getDefaultColFormat ()

bool	getDefaultRemRadErr ()

bool	getImageSnapshot (UImage *image)

bool	removeRadialError (UImage source, UImage destination)

void	saveRadialCorrectionMatrix (char *filename)

bool	setCameraParameters (float hx, float hy, float k1, float k2, float focalLng)

void	setDefaultRemRadErr (bool value)

bool	setRadialErrorMatrix ()

	UCamRad (UCamDevBase *device)

void	updateLensParams (const int height, const int width)

virtual	~UCamRad ()

Public Member Functions inherited from UCamPanTiltDevice
int	getPanMaxRange ()

int	getPanMinRange ()

int	getPanPos ()

int	getTiltMaxRange ()

int	getTiltMinRange ()

int	getTiltPos ()

bool	isPantiltSupported ()

bool	isPantiltValid ()

bool	pantiltSetPosition (bool relative, int pan, int tilt)

bool	pantiltToHomePosition ()

bool	pantiltUpdatePosition ()

bool	setPantiltStatus ()

	UCamPanTiltDevice (UCamDevBase *device)

Public Member Functions inherited from UCamBase
const char *	getCamName ()

UCamDevBase *	getDev ()

int	getDevNum ()

virtual void	gotNewImage (UImage *)

virtual void	imgUpdated ()

virtual bool	needNewPushData ()

void	setTypeName (const char *newName)

void	setVarPool (UVarPool *vpd)

	UCamBase (UCamDevBase *device)

virtual	~UCamBase ()

Protected Attributes
int	clientInControl

UImageLog *	logip

UVariable *	varCamPose

UVariable *	varMountName

Protected Attributes inherited from UCamBase
UCamDevBase *	dev

UVarPool *	vars

Additional Inherited Members
Public Attributes inherited from UCamRad
UVarPool *	varBaseStruct

Protected Member Functions inherited from UCamRad
bool	getRadialU2DOffset (float xu, float yu, float dxd, float dyd)

UXYoffset	getRadialU2DOffsetInt (int x, int y)

virtual void	imageSizeChanged (double iResFactor)

bool	lensParChanged ()

bool	removeRadialErrorOnePlane (unsigned char ps[], unsigned char pd[], unsigned int height, unsigned int width, float pixSize, bool halfRes)

bool	removeRadialErrorPixels (UPixel ps[], UPixel pd[], unsigned int height, unsigned int width, float pixSize)

Protected Member Functions inherited from UCamPanTiltDevice
bool	protPantiltGetPosition ()

bool	protPantiltGetRange ()

bool	protPantiltReset (bool resetPan, bool resetTilt)

Detailed Description

Holds information of a camera mounted on a robot. This includes 3D position and rotation, and rotation matrices to ease conversion between camera and robot perspective.

Author: Christian Andersen

Constructor & Destructor Documentation

UCamMounted::UCamMounted ( UCamDevBase * device )

Constructor

References clientInControl, logip, varCamPose, and varMountName.

UCamMounted::~UCamMounted ( )

virtual

Destructor

Member Function Documentation

void UCamMounted::createVars ( )

virtual

Create locally maintained variables - if any

Reimplemented from UCamRad.

Reimplemented in UCamPush.

References UVarPool::addVarA(), UCamRad::createVars(), varCamPose, varMountName, and UCamBase::vars.

Referenced by UCamPush::createVars(), and setImageLogging().

bool UCamMounted::getMtoPix	(	UPosition	pos3D,
		bool	useRad,
		float *	pixx,
		float *	pixy
	)

Convert this 3D robot coordinate to a pixel position. The mounted camera position is used to convert to camera coordinate in 3D, and then to pixel position in a undistorted image. if 'useRad' is true, then the pixel position is converted to a pixel position in the distorted image.

References UPosition::asVector4(), UPosition::copy(), UCamBase::dev, UCamRad::getCamPar(), UCamPar::getCtoPRob(), UCamDevBase::getHeight(), UPosRot::getMtoRMatrix(), getPosRot(), UCamPar::getRadialU2D(), UCamDevBase::getWidth(), URPos::x, and URPos::y.

Referenced by UFuncImgPoly::handleImgPolyCommand(), UFunctionCamPath::handlePathGetCommand(), setClientInCharge(), and test3DtoPix().

UPosition UCamMounted::getPos ( )

inline

Get camera position relative to robot. Coordinates are in 'robot' coordinates i.e. x is front, y left, z is up

References UVariable::get6D(), UPosRot::pos(), and varCamPose.

Referenced by UCamPool::decodeReplayLine(), UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), getPosRot(), UFunctionCamGmk::handleGmkGetCommand(), UFuncLinefinder::houghTest(), UImageLog::logImage(), UComCamSml::setCamDevice(), and UComCamSml::setFromCam().

UPosition UCamMounted::getPosCC ( )

inline

Get camera position relative to robot in camera coordinate system, i.e. x is right, y is up and z is back. Coordinates are in 'robot' coordinates i.e. x is front, y left, z is up

References UVariable::get6D(), getRot(), getRotCC(), varCamPose, UPosition::x, UPosition::y, and UPosition::z.

Referenced by UCalibrate::findBarcodeChartPosition(), and UCalibrate::findCameraPosition().

const char* UCamMounted::getPosName ( )

inline

Get the position name for this camera Get the position name for this camera

References UVariable::getValues(), isClientInCharge(), and varMountName.

Referenced by UCamPool::getCam(), UFunctionCam::handleCamsGetCommand(), UFunctionCamGmk::handleGmkGetCommand(), UFunctionImage::handleImageGetCommand(), UCamPush::print(), and UComCamSml::setFromCam().

UPosRot UCamMounted::getPosRot ( )

inline

Get camera position as URotPos object - in robot coordinate type. If pan-tilt is supported, then the pan-tilted rotation is returned. (NB! if just moved, it may take some time for the camera to get to the returned position).

References getPos(), getRot(), loadCamSettings(), saveCamSettings(), and UPosRot::set().

Referenced by UFuncBallKL::calculateBallPosition(), UFuncBall::calculateBallPosition(), UFuncBall_improved::calculateBallPosition(), UFuncCropRow::findPlants(), UFuncStraightLine::findWoldPoints(), getMtoPix(), UFuncCropRow::handleCommand(), UFuncKinect::makeObj3Dcloud(), UCamPush::print(), UFuncStereo::processImages(), and UFuncKinect::updateCloud().

URotation UCamMounted::getRot ( )

Get camera rotation relative to robot in robot coordinates. i.e. x-axis is front (omega), y-axis is right (Phi), z-axis is up (kappa). Rotation order is first around vertical axis (Z (kappa)), then elevation up-down around Y-axis (Phi), and last rotation around robot axis (x or omega). If pan-tilt is supported, then the pan-tilted rotation is returned. (NB! if just moved, it may take some time for the camera to get to the returned position).

References UVariable::get6D(), UPosRot::rot(), and varCamPose.

Referenced by UFuncImgPoly::findAreaFromSeedRGB(), UFunctionCamPath::findPath(), getPosCC(), getPosRot(), getRotCC(), UFunctionCamGmk::handleGmkGetCommand(), UFuncLinefinder::houghTest(), UImageLog::logImage(), UComCamSml::setCamDevice(), and UComCamSml::setFromCam().

URotation UCamMounted::getRotCC ( )

Get camera rotation relative to robot in camera coordinates. i.e. x-axis is left (omega), y-axis is up (Phi), z-axis is back (kappa). rotation is first Phi around vertical axis (Y), then elevation up-down around X axis, and last rotation around camera axis Z. If pan-tilt is supported, then the pan-tilted rotation is returned. (NB! if just moved, it may take some time for the camera to get to the returned position).

References getRot(), URotation::Kappa, URotation::Omega, and URotation::Phi.

Referenced by UCalibrate::findBarcodeChartPosition(), UCalibrate::findCameraPosition(), and getPosCC().

bool UCamMounted::isClientInCharge ( int client )

Is this client in charge of camera settings? Returns true if so, if not then the client will be in charge if noone else has requested to be in charge.

References clientInControl.

Referenced by getPosName(), UFunctionCam::handleCamSetCommand(), and UComCamSml::pack().

bool UCamMounted::loadCamSettings	(	Uconfig *	ini,
		const char *	mountkey
	)

Load camera settings using this key name. if no key is provided the camera name is used. Returns true if loaded.

Referenced by getPosRot().

bool UCamMounted::logImage ( UImage * img )

virtual

Note that this image is captured in logfile as needed

Reimplemented from UCamRad.

References UCamBase::dev, UCamDevBase::isLog(), UImageLog::logImage(), and logip.

Referenced by UFunctionCamBase::getCamAndRawImage(), and setImageLogging().

bool UCamMounted::saveCamSettings	(	Uconfig *	ini,
		const char *	mountkey
	)

Save camera settings using this key name. if no key is provided the camera name is used. Returns true if saved.

Referenced by getPosRot().

void UCamMounted::setClientInCharge ( int client )

inline

Set this client in charge

References clientInControl, and getMtoPix().

Referenced by UFunctionCam::handleCamSetCommand().

void UCamMounted::setImageLogging ( UImageLog * value )

inline

Set logfile pointer. if pointer objext is NULL, then no logging is performed.

References createVars(), img, logImage(), and logip.

Referenced by UCamPool::findDevices(), and UCamPool::makeDevice().

void UCamMounted::setMountName ( const char * posName )

inline

Set the mount name (position indicator) for this camera

References UVariable::setValues(), and varMountName.

Referenced by UCamPool::makeDevice(), UFuncPiCam::run(), UFuncKinect::run(), and UComCamSml::setCamDevice().

void UCamMounted::setPosOnRobot	(	UPosition *	pos,
		URotation *	rot
	)

Take new image snapshot. Returns pointer to image if snapshot succeded. Returns NULL if failed Get snapshot image and remove radial error if it is default to do so. Get pointer to last captured image. Returns pointer to image, but image may be invalid. Set the camera position relative to the robot. It is assumed that the robot position is at floor level and oriented with forward beeing X, right is X and up is Z. Rotation around x is Omega, arounf Y is Phi and around Z is Kappa, positive is as for right hand coordinate systems. Pan-tilt is no longer supported

References UPosRot::set().

Referenced by UCamPool::decodeReplayLine(), UComCamSml::setCamDevice(), and test3DtoPix().

void UCamMounted::setPosOnRobot ( UPosRot * pose3d )

Set camera position from 3D pose structure

References UVariable::set6D(), and varCamPose.

void UCamMounted::setPosOnRobotCC	(	UPosition *	pos,
		URotation *	rot
	)

inline

Set the camera position relative to the robot from camera coordinates (x is right, y is up and z is back).

References URotation::Kappa, URotation::Omega, URotation::Phi, UPosRot::set(), UVariable::set6D(), varCamPose, UPosition::x, UPosition::y, and UPosition::z.

Referenced by UCalibrate::findGmk().

Member Data Documentation

int UCamMounted::clientInControl

protected

Rotation of camera relative to robot Position of camera relative to robot Inner orientation (3x3) pixel image to (top-left) pixel inner image plane to pixel image (3x3) Image to pixel mb * mP (3x3) Pixel to image (mb * mP).inverse Client in control of camera

Referenced by isClientInCharge(), setClientInCharge(), and UCamMounted().

UImageLog* UCamMounted::logip

protected

Last snapshot taken Reference to pool of images Camera position name Logfile for saved images (pointer to), the file itself is maintained by the camera pool

Referenced by logImage(), setImageLogging(), and UCamMounted().

UVariable* UCamMounted::varCamPose

protected

camera pose on robot

Referenced by createVars(), getPos(), getPosCC(), getRot(), setPosOnRobot(), setPosOnRobotCC(), and UCamMounted().

UVariable* UCamMounted::varMountName

protected

mount name for camera

Referenced by createVars(), getPosName(), setMountName(), and UCamMounted().

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation