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Camera Class ReferenceBasic camera sensor.
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#include <Camera.hh>
Inheritance diagram for Camera:
List of all members.
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Public Member Functions |
| | Camera (World *world) |
| virtual | ~Camera () |
| int | Init (int width, int height, double hfov, double minDepth, double maxDepth, const char *method, int zBufferDepth) |
| | Initialize the sensor.
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| void | InitContext (GLContext &context) |
| int | Fini () |
| | Finalize the sensor.
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| void | Update () |
| | Update the sensor information.
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| void | SetPose (GzPose pose) |
| | Set the pose of the camera (global cs).
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| GzPose | GetPose () |
| | Get the camera pose (global cs).
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| void | SetFOV (double fov) |
| | Set the camera FOV (horizontal).
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| double | GetFOV () const |
| | Get the camera FOV (horizontal).
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| void | SetRenderOptions (const RenderOptions *opt) |
| | Set the rendering options.
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| void | GetRenderOptions (RenderOptions *opt) const |
| | Get the rendering options.
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| void | GetImageSize (int *w, int *h) |
| | Get the image dimensions.
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| const unsigned char * | GetImageData () const |
| | Get a pointer to the image data.
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| double | GetZValue (int x, int y) |
| | Get the Z-buffer value at the given image coordinate.
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| GzPose | CalcCameraDelta (int mode, GzVector a, GzVector b) |
| | Compute the change in pose based on two image points.
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| void | SetSavePath (const char *pathname) |
| | Set the path for saved frames.
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| void | EnableSaveFrame (bool enable) |
| | Enable or disable saving.
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Detailed Description
Basic camera sensor.
This sensor is used for simulating standard monocular cameras; is is used by both camera models (e.g., SonyVID30) and user interface models (e.g., ObserverCam).
Constructor & Destructor Documentation
| Camera::Camera |
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World * |
world |
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| Camera::~Camera |
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[virtual] |
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Member Function Documentation
| int Camera::Init |
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int |
width, |
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int |
height, |
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double |
hfov, |
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double |
minDepth, |
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double |
maxDepth, |
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const char * |
method, |
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int |
zBufferDepth |
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Initialize the sensor.
- Parameters:
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| width,height | image width and height (pixels) |
| hfov | horizontal field of view (radians) |
| minDepth,maxDepth | near and far depth clipping planes (m); minDepth must be greater than zero; maxDepth must be greater than minDepth. |
| method | Prefered rendering method: SGIX, GLX or XLIB. |
| zBufferDepth | Z buffer depth (in bits) used for rendering (useful for some nvidia cards that do not support other depths than 24 bits) |
- Returns:
- Zero on success.
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| void Camera::InitContext |
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GLContext & |
context |
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Update the sensor information.
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| void Camera::SetPose |
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GzPose |
pose |
) |
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Set the pose of the camera (global cs).
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Get the camera pose (global cs).
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| void Camera::SetFOV |
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double |
fov |
) |
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Set the camera FOV (horizontal).
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| double Camera::GetFOV |
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const |
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Get the camera FOV (horizontal).
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Set the rendering options.
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Get the rendering options.
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| void Camera::GetImageSize |
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int * |
w, |
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int * |
h |
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) |
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Get the image dimensions.
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| const unsigned char* Camera::GetImageData |
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const [inline] |
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Get a pointer to the image data.
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| double Camera::GetZValue |
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int |
x, |
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int |
y |
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) |
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Get the Z-buffer value at the given image coordinate.
- Parameters:
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| x,y | Image coordinate; (0, 0) specifies the top-left corner. |
- Returns:
- Image z value; note that this is abitrarily scaled and is not the same as the depth value.
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Compute the change in pose based on two image points.
This function provides natural feedback when using a mouse to control the camera pose. The function computes a change in camera pose, such that the initial image coordinate a and final coordinate b map both to the same global coordinate. Thus, it is possible to "grab" a piece of the terrain and "drag" it to a new location.
Naturally, with only two image coordinates the solution is under-determined (4 constraints and 6 DOF). We therefore provide a mode argument specify what kind of transformation should be affected; the supported modes are translating, zooming and rotating.
- Parameters:
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| mode | Solution method: 0 = translate; 1 = zoom; 2 = rotate. |
| a,b | Initial and final image points; the z value on a must be specified (use GetZValue() for this). |
- Returns:
- Change in pose (camera frame; post-multiply with current global pose).
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| void Camera::SetSavePath |
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const char * |
pathname |
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Set the path for saved frames.
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| void Camera::EnableSaveFrame |
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bool |
enable |
) |
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Enable or disable saving.
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The documentation for this class was generated from the following files:
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