Config::vision_config Struct Reference#include <Config.h>
List of all members.
Detailed Description
vision information
Definition at line 41 of file Config.h.
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Public Types |
| enum | encoding_t { ENCODE_COLOR,
ENCODE_SINGLE_CHANNEL
} |
| | type of information to send, stored in Config::vision_config::rawcam_encoding More...
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| enum | compression_t { COMPRESS_NONE,
COMPRESS_JPEG,
COMPRESS_RLE
} |
| | compression format to use, stored in Config::vision_config::rawcam_compression More...
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Public Member Functions |
| void | computeRay (float x, float y, float &r_x, float &r_y, float &r_z) |
| | provides a ray from camera through pixel in image
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| void | computePixel (float r_x, float r_y, float r_z, float &x, float &y) |
| | provides a pixel hit in image by a ray going through the camera frame
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| | vision_config () |
| | constructor
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Public Attributes |
| int | white_balance |
| | white balance
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| int | gain |
| | gain
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| int | shutter_speed |
| | shutter speed
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| int | resolution |
| | resolution
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| float | horizFOV |
| | horizontal field of view of camera, in radians
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| float | vertFOV |
| | vertical field of view of camera, in radians
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| float | focal_length |
| | focal length of the camera (mm)
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| std::vector< std::string > | thresh |
| | thresholds
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| char | colors [50] |
| | colors
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| int | rawcam_port |
| | port to send raw frames on
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| int | rawcam_transport |
| | transport protocol: 0 for udp, 1 for tcp
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| int | rle_port |
| | port to send RLE frames on
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| int | rle_transport |
| | transport protocol: 0 for udp, 1 for tcp
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| int | obj_port |
| | port to send object info on
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| bool | restore_image |
| | if true, replaces pixels holding image info with actual image pixels (as much as possible anyway)
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| J_DCT_METHOD | jpeg_dct_method |
| | pick between dct methods for jpeg compression
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| encoding_t | rawcam_encoding |
| | holds whether to send color or single channel
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| int | rawcam_channel |
| | RawCameraGenerator::channel_id_t, if raw_encoding is single channel, this holds the channel to send (computed from rawcam_encoding, not set directly).
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| compression_t | rawcam_compression |
| | holds whether to send jpeg compression
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| int | rawcam_compress_quality |
| | 0-100, compression quality (currently only used by jpeg)
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| int | rawcam_y_skip |
| | resolution level to transmit y channel at
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| int | rawcam_uv_skip |
| | resolution level to transmit uv channel at (ignored for jpeg compression)
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| int | rlecam_skip |
| | resolution level to transmit segmented images at
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| int | rlecam_channel |
| | channel of RLEGenerator to send
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| compression_t | rlecam_compression |
| | what compression to use on the segmented image
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Member Enumeration Documentation
Constructor & Destructor Documentation
| Config::vision_config::vision_config |
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[inline] |
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Member Function Documentation
| void Config::vision_config::computePixel |
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float |
r_x, |
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float |
r_y, |
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float |
r_z, |
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float & |
x, |
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float & |
y |
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) |
[inline] |
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provides a pixel hit in image by a ray going through the camera frame
Hopefully we'll eventually upgrade this to account for lens distortion - Parameters:
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| [in] | r_x | x value of the ray |
| [in] | r_y | y value of the ray |
| [in] | r_z | z value of the ray |
| [out] | x | x position in range [-1,1] |
| [out] | y | y position in range [-1,1] |
Definition at line 102 of file Config.h. |
| void Config::vision_config::computeRay |
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float |
x, |
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float |
y, |
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float & |
r_x, |
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float & |
r_y, |
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float & |
r_z |
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) |
[inline] |
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provides a ray from camera through pixel in image
Hopefully we'll eventually upgrade this to account for lens distortion - Parameters:
-
| [in] | x | x position in range [-1,1] |
| [in] | y | y position in range [-1,1] |
| [out] | r_x | x value of the ray |
| [out] | r_y | y value of the ray |
| [out] | r_z | z value of the ray (always 1) |
Definition at line 89 of file Config.h. |
Member Data Documentation
The documentation for this struct was generated from the following file:
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