The SimulatedCamera class makes it posible to use virtual camera sensors by using different framegrapper implementations. More...

#include <SimulatedCamera.hpp>

Inherits SimulatedSensor.

Public Types
typedef rw::core::Ptr< SimulatedCamera >	Ptr
	Smart pointer type for a SimulatedCamera.

Public Types inherited from SimulatedSensor
typedef rw::core::Ptr< SimulatedSensor >	Ptr
	smart pointer type of this class

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

Public Member Functions
	SimulatedCamera (const std::string &name, double fov, rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rwlibs::simulation::FrameGrabber > frameGrabber)
	creates a simulated pinhole camera, More...

	SimulatedCamera (rw::core::Ptr< rw::sensor::CameraModel > model, rw::core::Ptr< rwlibs::simulation::FrameGrabber > frameGrabber)
	constructor More...

virtual	~SimulatedCamera ()
	destructor

bool	initialize ()
	initializes the camera to the current settings (CaptureMode,ColorMode,etc.) More...

bool	start ()
	starts this camera, if the camera has not been initialized the initialize function will be called. More...

void	stop ()
	stops this camera. When the camera is stopped it can be reinitialized using initialize() More...

void	acquire ()
	aquires an image from the camera. This method is not blocking. Use isImageReady to poll for completion of acquire. More...

bool	isImageReady ()
	tests whether a image has been acquired More...

const rw::sensor::Image *	getImage ()
	returns the last image acquired from the camera. This method is not blocking, if no image has been acquired yet an empty image is returned. The image returned can for some specific drivers be read only. More...

double	getFrameRate ()
	returns the framerate that this camera is setup with More...

void	setFrameRate (double framerate)
	sets the framerate of this camera. If the framerate is not supported the closest supported framerate is choosen. More...

virtual unsigned int	getWidth () const
	get width of the captured images More...

virtual unsigned int	getHeight () const
	get width of the captured images More...

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	steps the the SimulatedSensor with time dt and saves any state changes in state. More...

void	reset (const rw::kinematics::State &state)
	Resets the state of the SimulatedSensor to that of state. More...

rw::core::Ptr< rw::sensor::Sensor >	getSensor ()

rw::core::Ptr< rw::sensor::Camera >	getCameraSensor ()
	Get the camera sensor. More...

Public Member Functions inherited from SimulatedSensor
virtual	~SimulatedSensor ()
	destructor

const std::string &	getName () const
	get name of this simulated sensor

rw::kinematics::Frame *	getFrame () const
	get frame that this sensor is attached to. More...

rw::sensor::SensorModel::Ptr	getSensorModel ()
	get the sensor model of this simulated sensor.

rw::sensor::Sensor::Ptr	getSensorHandle (rwlibs::simulation::Simulator::Ptr sim)
	get a handle to controlling an instance of the simulated sensor in a specific simulator More...

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 SimulatedSensor
	SimulatedSensor (rw::sensor::SensorModel::Ptr model)
	constructor

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 SimulatedCamera class makes it posible to use virtual camera sensors by using different framegrapper implementations.

The SimulatedCamera implements the camera interface though the setting of framerate has no meaning to the virtual camera since no timing is done in this implementation.

Constructor & Destructor Documentation

◆ SimulatedCamera() [1/2]

SimulatedCamera	(	const std::string &	name,
		double	fov,
		rw::core::Ptr< rw::kinematics::Frame >	frame,
		rw::core::Ptr< rwlibs::simulation::FrameGrabber >	frameGrabber
	)

creates a simulated pinhole camera,

Parameters

name	[in] name of sensor
fov	[in] field of view for the camera.
frame	[in] frame to which the camera is attached
frameGrabber	[in] the frameGrabber from which this Camera should grab images

◆ SimulatedCamera() [2/2]

SimulatedCamera	(	rw::core::Ptr< rw::sensor::CameraModel >	model,
		rw::core::Ptr< rwlibs::simulation::FrameGrabber >	frameGrabber
	)

constructor

Parameters

model	[in] the model and info of the camera
frameGrabber	[in] the frameGrabber from which this Camera should grab images.

Member Function Documentation

◆ acquire()

void acquire ( )

aquires an image from the camera. This method is not blocking. Use isImageReady to poll for completion of acquire.

◆ getCameraSensor()

rw::core::Ptr<rw::sensor::Camera> getCameraSensor ( )

inline

Get the camera sensor.

Returns: the sensor.

◆ getFrameRate()

double getFrameRate ( )

returns the framerate that this camera is setup with

Returns: the framerate in frames per second

◆ getHeight()

virtual unsigned int getHeight ( ) const

virtual

get width of the captured images

Returns: width

◆ getImage()

const rw::sensor::Image* getImage ( )

returns the last image acquired from the camera. This method is not blocking, if no image has been acquired yet an empty image is returned. The image returned can for some specific drivers be read only.

Returns: last image captured from camera.

◆ getWidth()

virtual unsigned int getWidth ( ) const

virtual

get width of the captured images

Returns: width

◆ initialize()

bool initialize ( )

initializes the camera to the current settings (CaptureMode,ColorMode,etc.)

Returns: true if initialization is succesfully, false otherwise.

◆ isImageReady()

bool isImageReady ( )

tests whether a image has been acquired

Returns: true if an image has been acquired, false otherwise.

◆ reset()

void reset ( const rw::kinematics::State & state )

inlinevirtual

Resets the state of the SimulatedSensor to that of state.

Parameters

state [in] the state that the sensor is reset too.

Implements SimulatedSensor.

◆ setFrameRate()

void setFrameRate ( double framerate )

sets the framerate of this camera. If the framerate is not supported the closest supported framerate is choosen.

Parameters

framerate [in] the framerate

◆ start()

bool start ( )

starts this camera, if the camera has not been initialized the initialize function will be called.

Returns: true if camera was successfully started, false otherwise

◆ stop()

void stop ( )

stops this camera. When the camera is stopped it can be reinitialized using initialize()

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

virtual

steps the the SimulatedSensor with time dt and saves any state changes in state.

Parameters

info	[in] update information related to the time step.
state	[out] changes of the SimulatedSensor is saved in state.

Implements SimulatedSensor.

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

SimulatedCamera.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatedCamera() [1/2]

◆ SimulatedCamera() [2/2]

Member Function Documentation

◆ acquire()

◆ getCameraSensor()

◆ getFrameRate()

◆ getHeight()

◆ getImage()

◆ getWidth()

◆ initialize()

◆ isImageReady()

◆ reset()

◆ setFrameRate()

◆ start()

◆ stop()

◆ update()