GLFrameGrabber Class Reference

An implementation of the FrameGrabber interface. The GLFrameGrabber grabs images from a OpenGL scene using a simple pinhole camera model. More...

#include <GLFrameGrabber.hpp>

Inherits FrameGrabber.

Public Types
typedef rw::core::Ptr< GLFrameGrabber >	Ptr
	Smart pointer type for GLFrameGrabber.
Public Types inherited from FrameGrabber
typedef rw::core::Ptr< FrameGrabber >	Ptr
	Smart pointer type for FrameGrabber.

Public Member Functions
	GLFrameGrabber (int width, int height, double fov, double near=0.1, double far=10.0)
	constructor More...
virtual	~GLFrameGrabber ()
	destructor
void	resize (int width, int height)
	resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with. More...
void	resize (int width, int height, rw::sensor::Image::ColorCode colorCode)
	resizes the image that this frameGrabber use. More...
bool	init (rw::core::Ptr< rw::graphics::SceneViewer > drawer)
	initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering. More...
virtual void	grab (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::kinematics::State &state)
	this function grabs a image from the specialized source and copies it to the FrameGrabber image. More...
Public Member Functions inherited from FrameGrabber
	FrameGrabber (int width, int height, rw::sensor::Image::ColorCode encoding)
	constructor More...
virtual	~FrameGrabber ()
	destructor
int	getWidth ()
	returns the width of the image More...
int	getHeight ()
	returns the height of the image More...
virtual rw::sensor::Image &	getImage ()
	returns the image More...

Additional Inherited Members
Protected Attributes inherited from FrameGrabber
rw::sensor::Image *	_img
	The image.
rw::sensor::Image::ColorCode	_colorCode
	Colorcode of the image.

Detailed Description

An implementation of the FrameGrabber interface. The GLFrameGrabber grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

Constructor & Destructor Documentation

GLFrameGrabber()

GLFrameGrabber	(	int	width,
		int	height,
		double	fov,
		double	near = 0.1,
		double	far = 10.0
	)

constructor

Parameters

width	[in] width of image
height	[in] height of image
fov	[in] the vertical field of view angle in degree
near	[in] the minimum depth of camera.
far	[in] the maximum depth of camera.

Member Function Documentation

grab()

virtual void grab ( rw::core::Ptr< rw::kinematics::Frame >  frame, const rw::kinematics::State &  state  )

virtual

this function grabs a image from the specialized source and copies it to the FrameGrabber image.

Implements FrameGrabber.

init()

bool init

(

rw::core::Ptr< rw::graphics::SceneViewer >

drawer

)

initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering.

Parameters

drawer

[in] the scene viewer

Returns

true if initialization succeeded, false otherwise (depends on the capabilities of the SceneViewer).

resize() [1/2]

void resize ( int  width, int  height  )

virtual

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with.

Parameters

width	[in] width of image
height	[in] height of image

Reimplemented from FrameGrabber.

resize() [2/2]

void resize ( int  width, int  height, rw::sensor::Image::ColorCode  colorCode  )

virtual

resizes the image that this frameGrabber use.

Parameters

width	[in] width of image.
height	[in] height of image.
colorCode	[in] Color encoding of the image.

Reimplemented from FrameGrabber.

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

• GLFrameGrabber.hpp