CameraModel Class Reference

The CameraModel class defines a generel pinhole camera model where camera parameters and state values are stored. More...

#include <CameraModel.hpp>

Inherits SensorModel.

Classes
class	CameraModelCache
	CameraModelCache that define data to store in the State. More...

Public Types
typedef rw::core::Ptr< CameraModel >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const CameraModel >	CPtr
	smart pointer type to this const class
Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	CameraModel (const rw::math::ProjectionMatrix &projection, const std::string &name, rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &modelInfo="")
virtual	~CameraModel ()
	destructor
Image::Ptr	getImage (const rw::kinematics::State &state)
	returns the image if it has been saved in the State. Else null is returned. More...
void	setImage (Image::Ptr img, rw::kinematics::State &state)
	set the image in the state More...
rw::math::ProjectionMatrix	getProjectionMatrix () const
	get the camera projection matrix
double	getFieldOfViewX () const
	get horisontal field of view. More...
double	getFieldOfViewY () const
	get Vertical field of view. More...
double	getFarClippingPlane () const
	get far clipping plane More...
double	getNearClippingPlane () const
	get near clipping plane More...
Public Member Functions inherited from SensorModel
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
	constructor More...
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
	constructor More...
virtual	~SensorModel ()
	destructor
void	setName (const std::string &name)
	sets the name of this sensor More...
void	setDescription (const std::string &description)
	sets the description of this sensor More...
const std::string &	getName () const
	returns the name of this sensor More...
const std::string &	getDescription () const
	returns a description of this sensor More...
kinematics::Frame *	getFrame () const
	The frame to which the sensor is attached. More...
virtual void	attachTo (rw::core::Ptr< kinematics::Frame > frame)
	Sets the frame to which the sensor should be attached. More...
rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor
const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor
Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor
virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...
virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.
virtual void	unregister ()
	unregisters all state data of this stateless object
StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...
const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...
bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor
template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization
void	add (StateData *data)
	Add data. More...
void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.
std::vector< rw::core::Ptr< StateData > >	_datas
	Data.
StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

The CameraModel class defines a generel pinhole camera model where camera parameters and state values are stored.

Constructor & Destructor Documentation

CameraModel()

CameraModel	(	const rw::math::ProjectionMatrix &	projection,
		const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	modelInfo = ""
	)

constructor

Parameters

projection	[in] pinhole projection model
name	[in] name of camera
frame	[in] frame that camera is attached/referenced to
modelInfo	[in] text description of the camera

Member Function Documentation

getFarClippingPlane()

double getFarClippingPlane

(

)

const

get far clipping plane

Returns

distance to far clipping plane in meters.

getFieldOfViewX()

double getFieldOfViewX

(

)

const

get horisontal field of view.

Returns

field of view in degrees

getFieldOfViewY()

double getFieldOfViewY

(

)

const

get Vertical field of view.

Returns

field of view in degrees

getImage()

Image::Ptr getImage

(

const rw::kinematics::State &

state

)

returns the image if it has been saved in the State. Else null is returned.

Parameters

state

[in] the state in which the image is taken.

Returns

last image captured from camera.

getNearClippingPlane()

double getNearClippingPlane

(

)

const

get near clipping plane

Returns

distance to near clipping plane in meters.

setImage()

void setImage	(	Image::Ptr	img,
		rw::kinematics::State &	state
	)

set the image in the state

Parameters

img	[in] image to set in state
state	[in/out] the state in which to set the image.

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

• CameraModel.hpp