Package org.robwork.sdurw_simulation

Class SimulatedCamera

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_simulation.SimulatedSensor

org.robwork.sdurw_simulation.SimulatedCamera

public class SimulatedCamera
extends SimulatedSensor

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 Summary

Constructors

Constructor	Description
SimulatedCamera(long cPtr, boolean cMemoryOwn)
SimulatedCamera(java.lang.String name, double fov, FramePtr frame, FrameGrabberPtr frameGrabber)	creates a simulated pinhole camera,
SimulatedCamera(CameraModelPtr model, FrameGrabberPtr frameGrabber)	constructor

Method Summary

Modifier and Type	Method	Description
void	acquire()
void	delete()
CameraPtr	getCameraSensor()	Get the camera sensor.
static long	getCPtr(SimulatedCamera obj)
double	getFrameRate()
long	getHeight()
Image	getImage()
SensorPtr	getSensor()
long	getWidth()
boolean	initialize()
boolean	isImageReady()
void	reset(State state)	Resets the state of the SimulatedSensor to that of state
void	setFrameRate(double framerate)
boolean	start()
void	stop()
void	update(Simulator.UpdateInfo info, State state)	steps the the SimulatedSensor with time dt and saves any state changes in state.

Methods inherited from class org.robwork.sdurw_simulation.SimulatedSensor

getCPtr, getFrame, getName, getSensorHandle, getSensorModel

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

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

Constructor Detail

SimulatedCamera

public SimulatedCamera(long cPtr,
                       boolean cMemoryOwn)

SimulatedCamera

public SimulatedCamera(java.lang.String name,
                       double fov,
                       FramePtr frame,
                       FrameGrabberPtr 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

public SimulatedCamera(CameraModelPtr model,
                       FrameGrabberPtr frameGrabber)

constructor

Parameters:

model - [in] the model and info of the camera

frameGrabber - [in] the frameGrabber from which this Camera should grab
images.

Method Detail

getCPtr

public static long getCPtr(SimulatedCamera obj)

delete

public void delete()

Overrides:

delete in class SimulatedSensor

initialize

public boolean initialize()

start

public boolean start()

stop

public void stop()

acquire

public void acquire()

isImageReady

public boolean isImageReady()

getImage

public Image getImage()

getFrameRate

public double getFrameRate()

setFrameRate

public void setFrameRate(double framerate)

getWidth

public long getWidth()

getHeight

public long getHeight()

update

public void update(Simulator.UpdateInfo info,
                   State state)

Description copied from class: SimulatedSensor

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

Overrides:

update in class SimulatedSensor

Parameters:

info - [in] update information related to the time step.

state - [out] changes of the SimulatedSensor is saved in state.

reset

public void reset(State state)

Description copied from class: SimulatedSensor

Resets the state of the SimulatedSensor to that of state

Overrides:

reset in class SimulatedSensor

Parameters:

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

getSensor

public SensorPtr getSensor()

getCameraSensor

public CameraPtr getCameraSensor()

Get the camera sensor.

Returns:

the sensor.