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

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:

Last updated 12 September 2005 21:38:45

StereoCamera Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation