StereoCamera Class Reference
Stereo camera sensor. More...
#include <StereoCamera.hh>
Inheritance diagram for StereoCamera:
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
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Constructor.
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Destructor.
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Member Function Documentation
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Initialize the sensor.
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Finalize the sensor.
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Update the sensor information.
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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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Get the camera FOV (horizontal).
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Get the image/disparity dimensions.
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Enable image rendering.
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Enable disparity rendering.
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Get a pointer to the image data.
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Get a pointer to the disparity data.
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Set the path for saved frames.
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Enable or disable saving.
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The documentation for this class was generated from the following files: