GLFrameGrabber25D Class Reference

An implementation of the FrameGrabber interface. The GLFrameGrabber25D grabs images from a OpenGL scene using a simple pinhole camera model. More...

#include <GLFrameGrabber25D.hpp>

Inherits FrameGrabber25D.

Public Types
typedef rw::core::Ptr< GLFrameGrabber25D >	Ptr
	Smart pointer type for GLFrameGrabber25D.
Public Types inherited from FrameGrabber25D
typedef rw::core::Ptr< FrameGrabber25D >	Ptr
	Smart pointer type for FrameGrabber25D.

Public Member Functions
	GLFrameGrabber25D (int width, int height, double fov, double mindepth=0.1, double maxdepth=10.0)
	constructor More...
virtual	~GLFrameGrabber25D ()
	destructor
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...
void	setMaxDepth (double depth)
	set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic. More...
void	setMinDepth (double depth)
	set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic. More...
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...
double	getMaxDepth ()
	maximum depth that this framegrabber can handle More...
double	getMinDepth ()
	minimum depth that this framegrabber can handle More...
virtual double	getFieldOfViewY ()
	Returns the field of view measured around the y-axis. More...
Public Member Functions inherited from FrameGrabber25D
	FrameGrabber25D (size_t width, size_t height)
	constructor More...
virtual	~FrameGrabber25D ()
	destructor
size_t	getWidth () const
	returns the width of the image More...
size_t	getHeight () const
	returns the height of the image More...
void	resize (size_t width, size_t height)
	resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with. More...
virtual rw::geometry::PointCloud &	getImage ()
	returns the image More...

Additional Inherited Members
Protected Attributes inherited from FrameGrabber25D
rw::geometry::PointCloud *	_img
	The image.
size_t	_width
	Width of the image.
size_t	_height
	Height of the image.

Detailed Description

An implementation of the FrameGrabber interface. The GLFrameGrabber25D 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

GLFrameGrabber25D()

GLFrameGrabber25D	(	int	width,
		int	height,
		double	fov,
		double	mindepth = 0.1,
		double	maxdepth = 10.0
	)

constructor

Parameters

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

Member Function Documentation

getFieldOfViewY()

virtual double getFieldOfViewY ( )

virtual

Returns the field of view measured around the y-axis.

Returns

Field of view measured around y-axis in radians

Implements FrameGrabber25D.

getMaxDepth()

double getMaxDepth ( )

inlinevirtual

maximum depth that this framegrabber can handle

Returns

maximum depth in meter

Implements FrameGrabber25D.

getMinDepth()

double getMinDepth ( )

inlinevirtual

minimum depth that this framegrabber can handle

Returns

minimum depth in meter

Implements FrameGrabber25D.

grab()

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 FrameGrabber25D.

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).

setMaxDepth()

void setMaxDepth

(

double

depth

)

set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters

depth

[in] max depth

setMinDepth()

void setMinDepth

(

double

depth

)

set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic.

Parameters

depth

[in] min depth

---

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

• GLFrameGrabber25D.hpp