Camera Class Reference

Contains all the kalman balls/robots for the specific camera. More...

Public Member Functions
	Camera ()
	Creates an invalid camera.
	Camera (int cameraID)
	Creates a valid camera with a specific id. More...
bool	getIsValid () const
	Returns whether this camera is valid and initialized correctly.
void	processBallBounce (const std::vector< WorldRobot > &yellowRobots, const std::vector< WorldRobot > &blueRobots)
	Tries to predict bounces off the best known estimation of the robots. More...
void	updateWithFrame (RJ::Time calcTime, const std::vector< CameraBall > &ballList, const std::vector< std::list< CameraRobot >> &yellowRobotList, const std::vector< std::list< CameraRobot >> &blueRobotList, const WorldBall &previousWorldBall, const std::vector< WorldRobot > &previousYellowWorldRobots, const std::vector< WorldRobot > &previousBlueWorldRobots)
	Updates all the filters with the latest camera frame data for this camera. More...
void	updateWithoutFrame (RJ::Time calcTime)
	Updates all the filters without any new data from this specific camera. More...
const std::list< KalmanBall > &	getKalmanBalls () const
const std::vector< std::list< KalmanRobot > > &	getKalmanRobotsYellow () const
const std::vector< std::list< KalmanRobot > > &	getKalmanRobotsBlue () const

Static Public Member Functions
static void	createConfiguration (Configuration *cfg)

Detailed Description

Contains all the kalman balls/robots for the specific camera.

Constructor & Destructor Documentation

Camera()

Camera::Camera

(

int

cameraID

)

Creates a valid camera with a specific id.

Parameters

cameraID

ID of this camera

Member Function Documentation

getKalmanBalls()

const std::list< KalmanBall > & Camera::getKalmanBalls

(

)

const

Returns

A list of the kalman balls associated with the camera

getKalmanRobotsBlue()

const std::vector< std::list< KalmanRobot > > & Camera::getKalmanRobotsBlue

(

)

const

Returns

A vector of blue kalman robot lists

getKalmanRobotsYellow()

const std::vector< std::list< KalmanRobot > > & Camera::getKalmanRobotsYellow

(

)

const

Returns

A vector of yellow kalman robot lists

processBallBounce()

void Camera::processBallBounce	(	const std::vector< WorldRobot > &	yellowRobots,
		const std::vector< WorldRobot > &	blueRobots
	)

Tries to predict bounces off the best known estimation of the robots.

Parameters

yellowRobots	List of the yellow world robots in the world class
blueRobots	List of blue world robots in the world class

updateWithFrame()

void Camera::updateWithFrame	(	RJ::Time	calcTime,
		const std::vector< CameraBall > &	ballList,
		const std::vector< std::list< CameraRobot >> &	yellowRobotList,
		const std::vector< std::list< CameraRobot >> &	blueRobotList,
		const WorldBall &	previousWorldBall,
		const std::vector< WorldRobot > &	previousYellowWorldRobots,
		const std::vector< WorldRobot > &	previousBlueWorldRobots
	)

Updates all the filters with the latest camera frame data for this camera.

Parameters

calcTime	Time of this calculation
ballList	Unsorted list of balls measurements
yellowRobotList	List of yellow robots sorted by id
blueRobotList	List of blue robots sorted by id
previousWorldBall	Best idea of current ball pos/vel to init velocity of new filters
previousYellowWorldRobots	Best idea of current robots pos/vel to init velocity of new filters
previousBlueWorldRobots	Best idea of current robots pos/vel to init velocity of new filters

Note: Call either this OR updateWithoutFrame once an iteration

updateWithoutFrame()

void Camera::updateWithoutFrame

(

RJ::Time

calcTime

)

Updates all the filters without any new data from this specific camera.

Parameters

calcTime

Time of this calculation

Note: Call either this OR updateWithFrame once an iteration

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

• soccer/vision/camera/Camera.hpp
• soccer/vision/camera/Camera.cpp