Camera Class Reference

Basic camera sensor. More...

#include <Camera.hh>

Inheritance diagram for Camera:


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.
void	InitContext (GLContext &context)
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).
void	SetFOV (double fov)
	Set the camera FOV (horizontal).
double	GetFOV () const
	Get the camera FOV (horizontal).
void	SetRenderOptions (const RenderOptions *opt)
	Set the rendering options.
void	GetRenderOptions (RenderOptions *opt) const
	Get the rendering options.
void	GetImageSize (int w, int h)
	Get the image dimensions.
const unsigned char *	GetImageData () const
	Get a pointer to the image data.
double	GetZValue (int x, int y)
	Get the Z-buffer value at the given image coordinate.
GzPose	CalcCameraDelta (int mode, GzVector a, GzVector b)
	Compute the change in pose based on two image points.
void	SetSavePath (const char *pathname)
	Set the path for saved frames.
void	EnableSaveFrame (bool enable)
	Enable or disable saving.

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 ( World * world )

Camera::~Camera ( ) [virtual]

Member Function Documentation

int Camera::Init ( int width,

int height,

double hfov,

double minDepth,

double maxDepth,

const char * method,

int zBufferDepth

)

Initialize the sensor.

Parameters:

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.

void Camera::InitContext ( GLContext & context )

int Camera::Fini ( )

Finalize the sensor.

void Camera::Update ( )

Update the sensor information.

void Camera::SetPose ( GzPose pose )

Set the pose of the camera (global cs).

GzPose Camera::GetPose ( )

Get the camera pose (global cs).

void Camera::SetFOV ( double fov )

Set the camera FOV (horizontal).

double Camera::GetFOV ( ) const

Get the camera FOV (horizontal).

void Camera::SetRenderOptions ( const RenderOptions * opt )

Set the rendering options.

void Camera::GetRenderOptions ( RenderOptions * opt ) const

Get the rendering options.

void Camera::GetImageSize ( int * w,

int * h

)

Get the image dimensions.

const unsigned char* Camera::GetImageData ( ) const [inline]

Get a pointer to the image data.

double Camera::GetZValue ( int x,

int y

)

Get the Z-buffer value at the given image coordinate.

Parameters:

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.

GzPose Camera::CalcCameraDelta ( int mode,

GzVector a,

GzVector b

)

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:

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).

void Camera::SetSavePath ( const char * pathname )

Set the path for saved frames.

void Camera::EnableSaveFrame ( bool enable )

Enable or disable saving.

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

Last updated 12 September 2005 21:38:45

Camera Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation