Package org.robwork.sdurw_simulation

Class GLFrameGrabber25D

java.lang.Object

org.robwork.sdurw_simulation.FrameGrabber25D

org.robwork.sdurw_simulation.GLFrameGrabber25D

public class GLFrameGrabber25D
extends FrameGrabber25D

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 Summary

Constructors

Constructor	Description
GLFrameGrabber25D(int width, int height, double fov)	constructor
GLFrameGrabber25D(int width, int height, double fov, double mindepth)	constructor
GLFrameGrabber25D(int width, int height, double fov, double mindepth, double maxdepth)	constructor
GLFrameGrabber25D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(GLFrameGrabber25D obj)
double	getFieldOfViewY()	Returns the field of view measured around the y-axis.
double	getMaxDepth()	maximum depth that this framegrabber can handle
double	getMinDepth()	minimum depth that this framegrabber can handle
void	grab(FramePtr frame, State state)	this function grabs a image from the specialized source and copies it to the FrameGrabber25D image.
boolean	init(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer_t drawer)	initialize the grabber with a scene viewer.
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.
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.

Methods inherited from class org.robwork.sdurw_simulation.FrameGrabber25D

getCPtr, getHeight, getImage, getWidth, resize

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

GLFrameGrabber25D

public GLFrameGrabber25D(long cPtr,
                         boolean cMemoryOwn)

GLFrameGrabber25D

public GLFrameGrabber25D(int width,
                         int height,
                         double fov,
                         double mindepth,
                         double maxdepth)

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.

GLFrameGrabber25D

public GLFrameGrabber25D(int width,
                         int height,
                         double fov,
                         double mindepth)

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.

GLFrameGrabber25D

public GLFrameGrabber25D(int width,
                         int height,
                         double fov)

constructor

Parameters:

width - [in] width of image

height - [in] height of image

fov - [in] the vertical field of view angle in degree

Method Detail

getCPtr

public static long getCPtr(GLFrameGrabber25D obj)

delete

public void delete()

Overrides:

delete in class FrameGrabber25D

init

public boolean init(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer_t 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

public 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

public 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

grab

public void grab(FramePtr frame,
                 State state)

Description copied from class: FrameGrabber25D

this function grabs a image from the specialized source and
copies it to the FrameGrabber25D image.

Overrides:

grab in class FrameGrabber25D

getMaxDepth

public double getMaxDepth()

Description copied from class: FrameGrabber25D

maximum depth that this framegrabber can handle

Overrides:

getMaxDepth in class FrameGrabber25D

Returns:

maximum depth in meter

getMinDepth

public double getMinDepth()

Description copied from class: FrameGrabber25D

minimum depth that this framegrabber can handle

Overrides:

getMinDepth in class FrameGrabber25D

Returns:

minimum depth in meter

getFieldOfViewY

public double getFieldOfViewY()

Description copied from class: FrameGrabber25D

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

Overrides:

getFieldOfViewY in class FrameGrabber25D

Returns:

Field of view measured around y-axis in radians