firevision::Bulb Class Reference

Bulb mirror lookup table. More...

#include <>>

Inheritance diagram for firevision::Bulb:

List of all members.

Classes
struct	bulb_file_header_t
	bulb file header. More...

Public Member Functions
	Bulb (const char *filename)
	Constructor.
	Bulb (const char *filename, const char *lut_id, bool destroy_on_delete=false)
	Constructor.
	Bulb (unsigned int width, unsigned int height)
	Constructor.
	Bulb (unsigned int width, unsigned int height, const char *lut_id, bool destroy_on_delete=false)
	Constructor.
	Bulb (const Bulb &bulb)
	Copy constructor.
virtual	~Bulb ()
	Destructor.
virtual void	warp2unwarp (unsigned int warp_x, unsigned int warp_y, unsigned int *unwarp_x, unsigned int *unwarp_y)
	Transform warped to unwarped point.
virtual void	unwarp2warp (unsigned int unwarp_x, unsigned int unwarp_y, unsigned int *warp_x, unsigned int *warp_y)
	Transform unwarped to warped point.
virtual const char *	getName ()
	Get name of model.
virtual bool	isValid ()
	Check if a valid LUT has been loaded.
virtual void	setWorldPoint (unsigned int image_x, unsigned int image_y, float world_r, float world_phi)
	Set a world point mapping.
virtual fawkes::polar_coord_2d_t	getWorldPointRelative (unsigned int image_x, unsigned int image_y) const
	Get relative coordinate based on image coordinates.
virtual fawkes::cart_coord_2d_t	getWorldPointGlobal (unsigned int image_x, unsigned int image_y, float pose_x, float pose_y, float pose_ori) const
	Get global coordinate based on image coordinates.
virtual void	reset ()
	Reset model.
virtual fawkes::point_t	getCenter () const
	Get the image pixel that is the center of the omni-camera.
virtual void	setCenter (unsigned int image_x, unsigned int image_y)
	Set center of omni-camera to given image pixel.
virtual void	setOrientation (float angle)
	Set orientation of the omni-camera device.
virtual float	getOrientation () const
	Get orientation of the omni-camera.
virtual bool	isValidPoint (unsigned int image_x, unsigned int image_y) const
	Check if the given point is valid.
bool	isNonZero (unsigned int image_x, unsigned int image_y) const
	Check if pixel maps to valid world point.
unsigned int	numNonZero () const
	Get number of non-zero entries.
float	getAngle (unsigned int image_x, unsigned int image_y) const
	Angle between direction to point and "to the right".
float	getDistanceInImage (unsigned int image_p1_x, unsigned int image_p1_y, unsigned int image_p2_x, unsigned int image_p2_y)
	Euklidean distance between to image points.
float	convertAngleI2W (float angle_in_image) const
	convertAngleI2W
void	load (const char *filename)
	Load LUT from file.
void	save (const char *filename)
	Save LUT from file.
const fawkes::polar_coord_2d_t *	get_lut () const
	Get the raw lookup table.
Public Member Functions inherited from firevision::MirrorModel
virtual	~MirrorModel ()
	Virtual empty destructor.

Static Public Member Functions
static std::string	composeFilename (const char *format)
	Compose a filename matching the given format.

Friends
class	BulbGenerator

---

Detailed Description

Bulb mirror lookup table.

This mirror model is based on a LUT that will map image pixels to radial coordinates in relative radial coordinates.

Author:

Tim Niemueller

Martin Heracles

Definition at line 38 of file bulb.h.

---

Constructor & Destructor Documentation

firevision::Bulb::Bulb

(

const char *

filename

)

Constructor.

Load bulb LUT from file.

Parameters:

filename

filename of bulb file to load.

Definition at line 62 of file bulb.cpp.

firevision::Bulb::Bulb	(	const char *	filename,
		const char *	lut_id,
		bool	destroy_on_delete = false
	)

Constructor.

Load bulb LUT from file and expose LUT via shared memory.

Parameters:

filename	filename of bulb file to load.
lut_id	LUT ID
destroy_on_delete	destroy LUT on delete

See also:

SharedMemoryLookupTable

Definition at line 76 of file bulb.cpp.

firevision::Bulb::Bulb	(	unsigned int	width,
		unsigned int	height
	)

Constructor.

Create new empty bulb LUT.

Parameters:

width	width of LUT
height	height of LUT

Definition at line 121 of file bulb.cpp.

firevision::Bulb::Bulb	(	unsigned int	width,
		unsigned int	height,
		const char *	lut_id,
		bool	destroy_on_delete = false
	)

Constructor.

Create new empty bulb LUT and expose LUT via shared memory.

Parameters:

width	width of LUT
height	height of LUT
lut_id	LUT ID
destroy_on_delete	destroy LUT on delete

See also:

SharedMemoryLookupTable

Definition at line 97 of file bulb.cpp.

firevision::Bulb::Bulb

(

const Bulb &

bulb

)

Copy constructor.

Parameters:

bulb	bulb LUT to copy

Definition at line 141 of file bulb.cpp.

firevision::Bulb::~Bulb ( )

virtual

Destructor.

Erases LUT memory.

Definition at line 194 of file bulb.cpp.

---

Member Function Documentation

string firevision::Bulb::composeFilename ( const char *  format )

static

Compose a filename matching the given format.

In the format h is replaced by the hostname.

Parameters:

format

format of file name

Returns:

filename based on the given format

Definition at line 678 of file bulb.cpp.

float firevision::Bulb::convertAngleI2W

(

float

angle_in_image

)

const

convertAngleI2W

Returns:

If you have a (ball-) direction in the omni-image, at which direction is the ball in the world, relative to the robot?

Parameters:

angle_in_image

angle to be converted

Definition at line 621 of file bulb.cpp.

const fawkes::polar_coord_2d_t * firevision::Bulb::get_lut

(

)

const

Get the raw lookup table.

Returns a pointer to the raw lookup table buffer ordered in row-major mappings from pixels to polar coordinates.

Returns:

raw lookup table

Definition at line 432 of file bulb.cpp.

float firevision::Bulb::getAngle	(	unsigned int	image_x,
		unsigned int	image_y
	)		const

Angle between direction to point and "to the right".

Parameters:

image_x	x coordinate in image
image_y	y coordinate in image

Returns:

angle between direction "to point (px, py)" and direction "to the right", with respect to center point. (Angle is in radians; clockwise is positive, counter-clockwise is negative.)

Definition at line 587 of file bulb.cpp.

point_t firevision::Bulb::getCenter ( ) const

virtual

Get the image pixel that is the center of the omni-camera.

Returns:

pixel coordinates of mirror center in image.

Implements firevision::MirrorModel.

Definition at line 486 of file bulb.cpp.

References fawkes::point_t::x, and fawkes::point_t::y.

float firevision::Bulb::getDistanceInImage	(	unsigned int	image_p1_x,
		unsigned int	image_p1_y,
		unsigned int	image_p2_x,
		unsigned int	image_p2_y
	)

Euklidean distance between to image points.

Returns:

the (euklidian) distance between two image points

Parameters:

image_p1_x	x coordinate in image of point 1
image_p1_y	y coordinate in image of point 1
image_p2_x	x coordinate in image of point 2
image_p2_y	y coordinate in image of point 2

Definition at line 603 of file bulb.cpp.

const char * firevision::Bulb::getName ( )

virtual

Get name of model.

Returns:

name of model

Implements firevision::MirrorModel.

Definition at line 348 of file bulb.cpp.

float firevision::Bulb::getOrientation ( ) const

virtual

Get orientation of the omni-camera.

Returns:

angle to forward direction.

Implements firevision::MirrorModel.

Definition at line 530 of file bulb.cpp.

cart_coord_2d_t firevision::Bulb::getWorldPointGlobal ( unsigned int  image_x, unsigned int  image_y, float  pose_x, float  pose_y, float  pose_ori  ) const

virtual

Get global coordinate based on image coordinates.

Parameters:

image_x	x coordinate in image in pixels
image_y	y coordinate in image in pixels
pose_x	robot pose global x coordinate
pose_y	robot pose global y coordinate
pose_ori	robot pose global orientation

Returns:

cartesian coordinates relative to the base system in metric global system

Implements firevision::MirrorModel.

Definition at line 383 of file bulb.cpp.

References fawkes::polar_coord_2d_t::phi, fawkes::polar_coord_2d_t::r, fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.

polar_coord_2d_t firevision::Bulb::getWorldPointRelative ( unsigned int  image_x, unsigned int  image_y  ) const

virtual

Get relative coordinate based on image coordinates.

Parameters:

image_x	x coordinate in image in pixels
image_y	y coordinate in image in pixels

Returns:

polar coordinates relative to the base system in metric local system

Implements firevision::MirrorModel.

Definition at line 364 of file bulb.cpp.

References fawkes::polar_coord_2d_t::phi, and fawkes::polar_coord_2d_t::r.

Referenced by firevision::MirrorCalibTool::eval().

bool firevision::Bulb::isNonZero	(	unsigned int	image_x,
		unsigned int	image_y
	)		const

Check if pixel maps to valid world point.

Parameters:

image_x	x coordinate in image
image_y	y coordinate in image

Returns:

true, iff image pixel (imagePointX, imagePointY) is not zero (checks distances "r" only, not the angles "phi") i.e. if it maps to a real-world position

Definition at line 551 of file bulb.cpp.

bool firevision::Bulb::isValid ( )

virtual

Check if a valid LUT has been loaded.

Returns:

true if a valid LUT has been loaded and can be used, false otherwise

Definition at line 357 of file bulb.cpp.

bool firevision::Bulb::isValidPoint ( unsigned int  image_x, unsigned int  image_y  ) const

virtual

Check if the given point is valid.

Parameters:

image_x	x coordinate of queried pixel in image
image_y	y coordinate of queried pixel in image

Returns:

true, if pixel is valid, false otherwise.

Implements firevision::MirrorModel.

Definition at line 537 of file bulb.cpp.

void firevision::Bulb::load

(

const char *

filename

)

Load LUT from file.

Parameters:

filename

name of LUT file

Definition at line 251 of file bulb.cpp.

References firevision::Bulb::bulb_file_header_t::center_x, firevision::Bulb::bulb_file_header_t::center_y, firevision::Bulb::bulb_file_header_t::dist_max, firevision::Bulb::bulb_file_header_t::dist_min, firevision::Bulb::bulb_file_header_t::height, firevision::Bulb::bulb_file_header_t::orientation, and firevision::Bulb::bulb_file_header_t::width.

unsigned int firevision::Bulb::numNonZero

(

)

const

Get number of non-zero entries.

Returns:

number of non-zero entries.

Definition at line 565 of file bulb.cpp.

void firevision::Bulb::reset ( )

virtual

Reset model.

This will reset mirror model.

Implements firevision::MirrorModel.

Definition at line 479 of file bulb.cpp.

void firevision::Bulb::save

(

const char *

filename

)

Save LUT from file.

Parameters:

filename

name of LUT file

Definition at line 287 of file bulb.cpp.

References firevision::Bulb::bulb_file_header_t::center_x, firevision::Bulb::bulb_file_header_t::center_y, firevision::Bulb::bulb_file_header_t::dist_max, firevision::Bulb::bulb_file_header_t::dist_min, firevision::Bulb::bulb_file_header_t::height, firevision::Bulb::bulb_file_header_t::orientation, and firevision::Bulb::bulb_file_header_t::width.

Referenced by firevision::MirrorCalibTool::save().

void firevision::Bulb::setCenter ( unsigned int  image_x, unsigned int  image_y  )

virtual

Set center of omni-camera to given image pixel.

Parameters:

image_x	x coordinate in image in pixels
image_y	y coordinate in image in pixels

Implements firevision::MirrorModel.

Definition at line 498 of file bulb.cpp.

void firevision::Bulb::setOrientation ( float  angle )

virtual

Set orientation of the omni-camera device.

Parameters:

angle

angle to the forward direction.

Implements firevision::MirrorModel.

Definition at line 516 of file bulb.cpp.

void firevision::Bulb::setWorldPoint ( unsigned int  image_x, unsigned int  image_y, float  world_r, float  world_phi  )

virtual

Set a world point mapping.

This modifies the mapping in the LUT. An exception is thrown if the coordinates are out of range or the distance is zero.

Parameters:

image_x	x coordinate of point in image in pixels
image_y	y coordinate of point in image in pixels
world_r	distance to real object from camera center in meters
world_phi	angle to real object

Definition at line 447 of file bulb.cpp.

void firevision::Bulb::unwarp2warp ( unsigned int  unwarp_x, unsigned int  unwarp_y, unsigned int *  warp_x, unsigned int *  warp_y  )

virtual

Transform unwarped to warped point.

Given a point in the unwarped image it returns the coordinates of the corresponding pixel in the warped image Useful for: You want to generate the unwarped image and ask the model for every point of the unwarped image which warped pixel to copy

Parameters:

unwarp_x	unwarped x coordinate
unwarp_y	unwarped y coordinate
warp_x	contains the warped x coordinate upon return
warp_y	contains the warped y coordinate upon return

Implements firevision::MirrorModel.

Definition at line 340 of file bulb.cpp.

void firevision::Bulb::warp2unwarp ( unsigned int  warp_x, unsigned int  warp_y, unsigned int *  unwarp_x, unsigned int *  unwarp_y  )

virtual

Transform warped to unwarped point.

Given a point in the warped image it returns the coordinates of the corresponding pixel in the unwarped image Useful for: You found the ball center in the image and want to get the position this pixel would have in an unwarped image

Parameters:

warp_x	warped x coordinate
warp_y	warped y coordinate
unwarp_x	contains unwarped x coordinate upon return
unwarp_y	contains unwarped y coordinate upon return

Implements firevision::MirrorModel.

Definition at line 323 of file bulb.cpp.

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

• src/libs/fvmodels/mirror/bulb.h
• src/libs/fvmodels/mirror/bulb.cpp