This CameraSensor calculates the position of the visible object(s) that is essentially the center of gravity of the image. More...

#include <camerasensors.h>

Inheritance diagram for PositionCameraSensor:

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Collaboration diagram for PositionCameraSensor:

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Public Types
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...

Public Member Functions
	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 bool	sense (const GlobalData &globaldata)
	Performs the calculations. 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 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 Member Functions
virtual bool	processAndFillData (double &x, double &y, double &size, int &k)
	process sensor information and fills More...

Static Protected Member Functions
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...

Protected Attributes
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

Detailed Description

This CameraSensor calculates the position of the visible object(s) that is essentially the center of gravity of the image.

The position in normalized to -1 to 1. Probably you want to use an image processor like ColorFilterImgProc before.

Member Enumeration Documentation

enum ValueTypes

additional sensor values.

Size is the size of the object (only one value, independent of the dimensions

Enumerator
None
Position
Size
SizeChange

Constructor & Destructor Documentation

PositionCameraSensor ( PositionCameraSensorConf conf = getDefaultConf() )

inline

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

See Also: BWImageProcessor or ColorFilterImgProc); CameraSensor for further parameter explanation.

Parameters

values sensor values to compute (

See Also: PositionCameraSensor::ValueTypes)

Parameters

dims	dimensions to return the position (X means horizonal, Y vertical)
border	if >0 then the size and sizechange are zero if position is that far (border) away from image border

virtual ~PositionCameraSensor ( )

inlinevirtual

Member Function Documentation

static bool calcImgCOG	(	const osg::Image *	img,
		double &	x,
		double &	y,
		double &	size,
		int	threshold = `1`
	)

inlinestaticprotected

calculates the Center of Gravity (normalized to -1 to 1) of an image.

As a bonus it also calculates the sum of all pixels (normalizes to 0-2.5) in size

Returns: false if image is too dark

virtual int get	(	sensor *	sensors,
		int	length
	)		const

inlinevirtual

overload this function and return the sensor values

Implements CameraSensor.

static PositionCameraSensorConf getDefaultConf ( )

inlinestatic

virtual int getSensorNumber ( ) const

inlinevirtual

overload this function and return the number of sensor values

Implements CameraSensor.

virtual void intern_init ( )

inlinevirtual

overload this function to initialized you data structures.

Use camera->getImage() to get the image from the camera

Implements CameraSensor.

virtual bool processAndFillData	(	double &	x,
		double &	y,
		double &	size,
		int &	k
	)

inlineprotectedvirtual

process sensor information and fills

virtual bool sense ( const GlobalData & globaldata )

inlinevirtual

Performs the calculations.

Implements CameraSensor.

Reimplemented in MotionCameraSensor.

virtual void setNamesIntern ( std::vector< std::string > & names )

inlinevirtual

sets the names of the sensors and starts with the given names (for subclasses)

Member Data Documentation

PositionCameraSensorConf conf

protected

sensor* data

protected

int num

protected

double oldsize

protected

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

camerasensors.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation