MotionCameraSensor Class Reference

This CameraSensor calculates the global optical flow of the camera image using the center of gravity method. More...

#include <camerasensors.h>

Inheritance diagram for MotionCameraSensor:

Collaboration diagram for MotionCameraSensor:

Public Member Functions
	MotionCameraSensor (const MotionCameraSensorConf &mconf=getDefaultConf())
	The camera image should be black and white (e.g. More...
virtual	~MotionCameraSensor ()
virtual bool	sense (const GlobalData &globaldata)
	Performs the calculations. More...
double	windowfunc (double x)
	window function for the interval -1 to 1, with ramps from 0.5 off center More...
Public Member Functions inherited from PositionCameraSensor
	PositionCameraSensor (PositionCameraSensorConf conf=getDefaultConf())
	The camera image should be black and white (e.g. More...
virtual void	setNamesIntern (std::vector< std::string > &names)
	sets the names of the sensors and starts with the given names (for subclasses) More...
virtual	~PositionCameraSensor ()
virtual void	intern_init ()
	overload this function to initialized you data structures. More...
virtual int	getSensorNumber () const
	overload this function and return the number of sensor values More...
virtual int	get (sensor *sensors, int length) const
	overload this function and return the sensor values More...
Public Member Functions inherited from CameraSensor
	CameraSensor ()
	Creates a camera sensor. More...
virtual	~CameraSensor ()
virtual void	setInitData (Camera *camera, const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose)
	sets the initial data structures like the camera. More...
virtual void	setPose (const osg::Matrix &pose)
	changes the relative pose of the camera More...
virtual osg::Matrix	getPose ()
	relative pose of the camera More...
virtual void	init (Primitive *own, Joint *joint=0)
	this function initialized the camera (no need to overload) (Sensor interface) More...
virtual void	update ()
	we update the camera's visual appearance More...
virtual std::list< sensor >	getList () const
	this is implemented based on get(sensor*,int) More...
Public Member Functions inherited from Sensor
	Sensor ()
virtual	~Sensor ()
virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...
std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...
Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()
void	setBaseName (const std::string &basename)
void	setBaseInfo (const SensorMotorInfo &baseinfo)
SensorMotorInfo	getBaseInfo ()
void	setNamingFunc (const NamingFunction &func)
NamingFunction	getNamingFunc () const
void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...
std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...
std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Static Public Member Functions
static MotionCameraSensorConf	getDefaultConf ()
Static Public Member Functions inherited from PositionCameraSensor
static PositionCameraSensorConf	getDefaultConf ()
Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...
static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...
static Dimensions	parseSensorDimension (char *str)
static std::string	dimensions2String (short dimensions)
Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Protected Attributes
MotionCameraSensorConf	mconf
double	lambda
bool	last
	whether last image had a valid position More...
double	lastX
double	lastY
Protected Attributes inherited from PositionCameraSensor
PositionCameraSensorConf	conf
int	num
sensor *	data
double	oldsize
Protected Attributes inherited from CameraSensor
Camera *	camera
OdeHandle	odeHandle
OsgHandle	osgHandle
osg::Matrix	pose
bool	isInitDataSet
Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func
SensorMotorInfo	baseinfo

Additional Inherited Members
Public Types inherited from PositionCameraSensor
enum	ValueTypes { None = 0, Position = 1, Size = 2, SizeChange = 4 }
	additional sensor values. More...
Public Types inherited from Sensor
enum	Dimensions {   X = 1, Y = 2, Z = 4, XY = X | Y,   XZ = X | Z, YZ = Y | Z, XYZ = X | Y | Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...
Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...
Protected Member Functions inherited from PositionCameraSensor
virtual bool	processAndFillData (double &x, double &y, double &size, int &k)
	process sensor information and fills More...
Static Protected Member Functions inherited from PositionCameraSensor
static bool	calcImgCOG (const osg::Image *img, double &x, double &y, double &size, int threshold=1)
	calculates the Center of Gravity (normalized to -1 to 1) of an image. More...

Detailed Description

This CameraSensor calculates the global optical flow of the camera image using the center of gravity method.

It requires objects to be bright on black ground. The velocity is by default windowed to avoid step-like artefacts at the border. Probably you want to use an image processor like ColorFilterImgProc before.

Constructor & Destructor Documentation

MotionCameraSensor ( const MotionCameraSensorConf &  mconf = getDefaultConf() )

inline

The camera image should be black and white (e.g.

See Also

BWImageProcessor or ColorFilterImgProc)

CameraSensor for further parameter explanation.

Parameters

mconf

configuration object

See Also

MotionCameraSensorConf and

PositionCameraSensorConf

virtual ~MotionCameraSensor ( )

inlinevirtual

Member Function Documentation

static MotionCameraSensorConf getDefaultConf ( )

inlinestatic

virtual bool sense ( const GlobalData &  globaldata )

inlinevirtual

Performs the calculations.

Reimplemented from PositionCameraSensor.

double windowfunc ( double  x )

inline

window function for the interval -1 to 1, with ramps from 0.5 off center

Member Data Documentation

double lambda

protected

bool last

protected

whether last image had a valid position

double lastX

protected

double lastY

protected

MotionCameraSensorConf mconf

protected

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

• camerasensors.h