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StereoCamera Class Reference Stereo camera sensor. More... #include <StereoCamera.hh> Inheritance diagram for StereoCamera: List of all members. Public Member Functions   StereoCamera (World *world)   Constructor. virtual  ~StereoCamera ()   Destructor. int  Init (int width, int height, double hfov, double baseline, double nearClip, double farClip, const char *method)   Initialize the sensor. int  Fini ()   Finalize the sensor. void  Update ()   Update the sensor information. void  SetPose (GzPose pose)   Set the pose of the camera (global cs). GzPose  GetPose ()   Get the camera pose (global cs). double  GetFOV () const   Get the camera FOV (horizontal). void  GetSize (int *w, int *h)   Get the image/disparity dimensions. void  EnableImage (int camera, bool enable)   Enable image rendering. void  EnableDisparity (int camera, bool enable)   Enable disparity rendering. const unsigned char *  GetImageData (int camera) const   Get a pointer to the image data. const float *  GetDisparityData (int camera) const   Get a pointer to the disparity data. void  SetSavePath (const char *pathname)   Set the path for saved frames. void  EnableSaveFrame (bool enable)   Enable or disable saving. Detailed Description Stereo camera sensor. Generates images and disparity images for a pair of cameras. The disparity images a masked to simulated occlusion and camera field of view. The simulated cameras have parallel axis geometry, although this could easily be extended. Constructor & Destructor Documentation StereoCamera::StereoCamera (  World *  world  )    Constructor. StereoCamera::~StereoCamera (   )  [virtual]   Destructor. Member Function Documentation int StereoCamera::Init (  int  width, int  height, double  hfov, double  baseline, double  nearClip, double  farClip, const char *  method )    Initialize the sensor. Parameters: width,height  image width and height (pixels) hfov  horizontal field of view (radians) baseline  camera separation (m) nearClip,farClip  near and far disparity clipping planes (m); nearClip must be greater than zero; farClip must be greater than nearClip. method  Prefered rendering method: SGIX, GLX or XLIB. Returns: Zero on success. int StereoCamera::Fini (   )    Finalize the sensor. void StereoCamera::Update (   )    Update the sensor information. void StereoCamera::SetPose (  GzPose  pose  )    Set the pose of the camera (global cs). GzPose StereoCamera::GetPose (   )    Get the camera pose (global cs). double StereoCamera::GetFOV (   )  const [inline]   Get the camera FOV (horizontal). void StereoCamera::GetSize (  int *  w, int *  h )    Get the image/disparity dimensions. void StereoCamera::EnableImage (  int  camera, bool  enable )    Enable image rendering. Parameters: camera  Selected camera: 0 for left camera, 1 for right camera. enable  Enable flag: 1 to enable rendering. void StereoCamera::EnableDisparity (  int  camera, bool  enable )    Enable disparity rendering. Parameters: camera  Selected camera: 0 for left camera, 1 for right camera. enable  Enable flag: 1 to enable rendering. const unsigned char* StereoCamera::GetImageData (  int  camera  )  const [inline]   Get a pointer to the image data. Parameters: camera  Selected camera: 0 for left camera, 1 for right camera const float* StereoCamera::GetDisparityData (  int  camera  )  const [inline]   Get a pointer to the disparity data. Parameters: camera  0 for left camera, 1 for right camera void StereoCamera::SetSavePath (  const char *  pathname  )    Set the path for saved frames. void StereoCamera::EnableSaveFrame (  bool  enable  )    Enable or disable saving. The documentation for this class was generated from the following files: StereoCamera.hh StereoCamera.cc

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Last updated $Date: 2004/12/21 01:49:15 $

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