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StereoCamera.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: A stereo camera sensor using OpenGL * Author: Andrew Howard * Date: 7 Oct 2004 * CVS: $Id: StereoCamera.hh,v 1.8 2004/11/13 22:23:23 inspectorg Exp $ */ #ifndef STEREOCAMERA_HH #define STEREOCAMERA_HH #include <stdint.h> #include "Error.hh" #include "Sensor.hh" #include "Vector.hh" #include "RenderOptions.hh" #include "GLContext.hh" // Forward Declarations class World; class WorldFile; class WorldFileNode; class StereoCamera : public Sensor { public: StereoCamera(World *world); public: virtual ~StereoCamera(); public: int Init(int width, int height, double hfov, double baseline, double nearClip, double farClip, const char *method); public: int Fini(); public: void Update(); public: void SetPose(GzPose pose); public: GzPose GetPose(); public: double GetFOV() const {return this->hfov;} public: void GetSize(int *w, int *h); // Render the scene from the camera perspective public: void EnableImage(int camera, bool enable); // Render the scene from the camera perspective public: void EnableDisparity(int camera, bool enable); public: const unsigned char *GetImageData(int camera) const {return this->images[camera];} public: const float *GetDisparityData(int camera) const {return this->disparityImages[camera];} // Render image for given camera private: void Render(int camera); // Render depth image for given camera private: void RenderDepth(int camera); // Render the models private: void RenderModels(); // Post-process the disparity images to calculate occlusions, etc private: void ProcessDisparity(); public: void SetSavePath(const char *pathname); public: void EnableSaveFrame(bool enable); // Save the camera frame private: void SaveFrame(); private: GLContext imageContext, depthContext; // Rendering options private: RenderOptions renderOpt; // Image dimensions private: int imgWidth, imgHeight; // Perspective lens options private: double hfov; // Clipping planes private: double nearClip, farClip; // Camera baseline (parallel projection) private: double baseline; // Camera model private: GzHomo P, iP; // Relative camera poses private: GzPose cameraPoses[2]; // Current central pose (global cs) private: GzPose pose; private: bool imageEnable[2]; private: int imageSize; private: unsigned char *images[2]; private: int depthSize; private: float *depthImages[2]; private: bool disparityEnable[2]; private: int disparitySize; private: float *disparityImages[2]; // Info for saving images private: bool saveEnable; private: const char *savePathname; private: unsigned int saveCount; }; #endif

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

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