MotionCameraSensor Class Reference
This CameraSensor calculates the global optical flow of the camera image using the center of gravity method.
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#include <camerasensors.h>
Inherits lpzrobots::PositionCameraSensor.
List of all members.
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
The camera image should be black and white (e.g.
- See also:
- BWImageProcessor or ColorFilterImgProc)
-
CameraSensor for further parameter explanation.
- Parameters:
-
| dims | dimensions to return the position (X means horizonal, Y vertical) |
| values | additional sensor values, |
- See also:
- PositionCameraSensor::Values
- Parameters:
-
| factor | factor for measured velocity (velocity is in framesize/frame |
| avg | averaging time window (1: no averaging) |
| window | whether to apply a windowing function to avoid edge effects |
| clipsize | value at which the values are clipped, e.g. [-1.5,1.5] |
Member Function Documentation
virtual bool sense |
( |
const GlobalData & |
globaldata |
) |
[inline, virtual] |
double windowfunc |
( |
double |
x |
) |
[inline] |
window function for the interval -1 to 1, with ramps from 0.5 off center
Member Data Documentation
whether last image had a valid position
The documentation for this class was generated from the following file: