TLIB documentation
The tlCameraStereo base class offers an encapsulation for stereo image sources and stereo processing engines. Stereo cameras are defined here as "special" images that can acquire not only images but also disparity maps, registered to the source image.
Public Member Functions | |
| tlCameraStereo () | |
| virtual | ~tlCameraStereo () |
| virtual int | grab (tlImage *image)=0 |
| virtual int | grab (tlImage *image, tlRect *rect)=0 |
| virtual int | grabQueued (tlImage *image)=0 |
| virtual int | grabQueued (tlImage *image, tlRect *rect)=0 |
| virtual int | grab (tlImage *image, tlImage *disparity)=0 |
| virtual int | grab (tlImage *image, tlImage *disparity, tlRect *rect)=0 |
| virtual int | grabQueued (tlImage *image, tlImage *disparity)=0 |
| virtual int | grabQueued (tlImage *image, tlImage *disparity, tlRect *rect)=0 |
| virtual int | getDisparity (tlImage *disparity)=0 |
| virtual int | getDisparity (tlImage *disparity, tlRect *rect)=0 |
| virtual int | getDisparity (tlImage *leftImage, tlImage *rightImage, tlImage *disparity)=0 |
| virtual int | getDisparity (tlImage *leftImage, tlImage *rightImage, tlImage *disparity, tlRect *rect)=0 |
| virtual int | toWorld (tlLocation *location)=0 |
| virtual int | toWorld (tlLocation *location, tlLocation *dest)=0 |
| virtual int | toImage (tlLocation *location)=0 |
| virtual int | toImage (tlLocation *location, tlLocation *dest)=0 |
| int | setPosition (int Tx, int Ty, int Tz) |
| int | setOrientation (int Rx, int Ry, int Rz) |
| bool | isCalibrated () |
| int | getTx () |
| int | getTy () |
| int | getTz () |
| int | getRx () |
| int | getRy () |
| int | getRz () |
| int | getWidth () |
| int | getHeight () |
| int | getID () |
| tl_format | getFormat () |
| tlCameraStereo::tlCameraStereo | ( | ) |
| tlCameraStereo::~tlCameraStereo | ( | ) | [virtual] |
| virtual int tlCameraStereo::grab | ( | tlImage * | image | ) | [pure virtual] |
This call acquires a full image from an image source. The image will have the size and format the source is currently configured for.
| image | [out] a valid image pointer that will receive the image. |
Implements tlCamera.
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
This call acquires a portion of an image from an image source. The image will have the size and format the source is currently configured for, but only the portion defined by the rect argument will contain valid pixel values.
| image | [out] a valid image pointer that will receive the image. | |
| rect | a pointer to the portion of the image to acquire. |
Implements tlCamera.
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
| virtual int tlCameraStereo::grabQueued | ( | tlImage * | image | ) | [pure virtual] |
This call acquires a full image from an image source. The image will have the size and format the source is currently configured for.
| image | [out] a valid image pointer that will receive the image. |
Implements tlCamera.
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
This call acquires a portion of an image from an image source. The image will have the size and format the source is currently configured for, but only the portion defined by the rect argument will contain valid pixel values.
| image | [out] a valid image pointer that will receive the image. | |
| rect | a pointer to the portion of the image to acquire. |
Implements tlCamera.
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
This method acquires a full image and the related disparity map. The image will have the size and format determined by the camera settings.
| image | [out] a valid image pointer that will receive the image. | |
| disparity | [out] a valid image pointer that will receive the disparity map. |
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
This method acquires a portion of an image and the related disparity map. The image will have the size and format determined by the camera settings, but only the portion defined by the rect argument will contain valid pixel values.
| image | [out] a valid image pointer that will receive the image. | |
| disparity | [out] a valid image pointer that will receive the disparity map. | |
| rect | a valid image pointer to the portion of the image to acquire. |
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
This call acquires a full image and the related disparity map. The image will have the size and format determined by the camera settings.
| image | [out] a valid image pointer that will receive the image. | |
| disparity | [out] a valid image pointer that will receive the disparity map. |
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
This method acquires a portion of an image and the related disparity map. The image will have the size and format determined by the camera settings, but only the portion defined by the rect argument will contain valid pixel values.
| image | [out] a valid image pointer that will receive the image. | |
| disparity | [out] a valid image pointer that will receive the disparity map. | |
| rect | a valid image pointer to the portion of the image to acquire. |
Implemented in tlCameraSVS, tlCameraSVSBase, and tlCameraSVSHead.
| tlCameraStereo::getDisparity | ( | tlImage * | disparity | ) | [pure virtual] |
This method computes a disparity map on the latest image set acquired by grab. The disparity map will have the size and format determined by the camera settings.
| disparity | [out] a valid image pointer that will receive the disparity map. |
Implemented in tlCameraSVSBase.
This method computes a partial disparity map on the latest image set acquired by grab. The disparity map will have the size and format determined by the camera settings, but only the portion defined by the rect argument will contain valid pixel values.
| disparity | [out] a valid image pointer that will receive the disparity map. | |
| rect | a valid image pointer to the portion of the disparity map to process. |
Implemented in tlCameraSVSBase.
| tlCameraStereo::getDisparity | ( | tlImage * | leftImage, | |
| tlImage * | rightImage, | |||
| tlImage * | disparity | |||
| ) | [pure virtual] |
This method computes the disparity map from two images. The images are supposed to have been acquired by the same tlCameraStereo object. The disparity map will have the size and format determined by the camera settings.
| leftImage | a pointer to an image taken from the left imager. | |
| rightImage | a pointer to an image taken from the right imager. | |
| disparity | [out] a valid image pointer that will receive the disparity map. |
Implemented in tlCameraSVSBase.
| tlCameraStereo::getDisparity | ( | tlImage * | leftImage, | |
| tlImage * | rightImage, | |||
| tlImage * | disparity, | |||
| tlRect * | rect | |||
| ) | [pure virtual] |
This method computes the disparity map from a portion of two images. The images are supposed to have been acquired by the same tlCameraStereo object. The disparity map will have the size and format determined by the camera settings, but only the portion defined by the rect argument will contain valid pixel values.
| leftImage | a pointer to an image taken from the left imager. | |
| rightImage | a pointer to an image taken from the right imager. | |
| disparity | [out] a valid image pointer that will receive the disparity map. | |
| rect | a valid image pointer to the portion of the disparity map to process. |
Implemented in tlCameraSVSBase.
| tlCameraStereo::toWorld | ( | tlLocation * | location | ) | [pure virtual] |
This method computes the 3D coordonates in the world frame of a given location, given the stereo camera calibration settings. The input location is defined by its x,y position in the image frame and a disparity value. The resulting world coordonates are written in the corresponding location fields.
| location | [int/out] location to convert |
Implemented in tlCameraSVSBase.
| tlCameraStereo::toWorld | ( | tlLocation * | location, | |
| tlLocation * | dest | |||
| ) | [pure virtual] |
This method computes the 3D coordonates in the world frame of a given location, given the stereo camera calibration settings. The input location is defined by its x,y position in the image frame and a disparity value. The resulting world coordonates are written in the dest location; image coordonates in dest are updated accordingly.
| location | location to convert | |
| dest | [out] resulting location (in both image and world frame) |
Implemented in tlCameraSVSBase.
| tlCameraStereo::toImage | ( | tlLocation * | location | ) | [pure virtual] |
This method computes the coordonates in the image frame and disparity of a given location, given the stereo camera calibration settings. The input location is defined by its wx,wy,wz position in the world frame. The resulting image coordonates are written in the corresponding location fields.
| location | [int/out] location to convert |
Implemented in tlCameraSVSBase.
| tlCameraStereo::toImage | ( | tlLocation * | location, | |
| tlLocation * | dest | |||
| ) | [pure virtual] |
This method computes the coordonates in the image frame and disparity of a given location, given the stereo camera calibration settings. The input location is defined by its wx,wy,wz position in the world frame. The resulting image coordonates are written in the dest location; world coordonates in dest are updated accordingly.
| location | location to convert | |
| dest | [out] resulting location (in both image and world frame) |
Implemented in tlCameraSVSBase.
| int tlCamera::setPosition | ( | int | Tx, | |
| int | Ty, | |||
| int | Tz | |||
| ) | [inherited] |
Set the camera position in the workspace.
| Tx | camera position on the X axis. | |
| Ty | camera position on the Y axis. | |
| Tz | camera position on the Z axis. |
| int tlCamera::setOrientation | ( | int | Rx, | |
| int | Ry, | |||
| int | Rz | |||
| ) | [inherited] |
Set the camera orientation in the workspace.
| Rx | camera orientation around the X axis. | |
| Ry | camera orientation around the Y axis. | |
| Rz | camera orientation around the Z axis. |
| tlCamera::isCalibrated | ( | ) | [inline, inherited] |
Check whether the camera returns calibrated (undistorted) images or not.
| tlCamera::getTx | ( | ) | [inline, inherited] |
Get the position of the camera on the X axis of the workspace.
| tlCamera::getTy | ( | ) | [inline, inherited] |
Get the position of the camera on the Y axis of the workspace.
| tlCamera::getTz | ( | ) | [inline, inherited] |
Get the position of the camera on the Z axis of the workspace.
| tlCamera::getRx | ( | ) | [inline, inherited] |
Get the orientation of the camera around the X axis of the workspace.
| tlCamera::getRy | ( | ) | [inline, inherited] |
Get the orientation of the camera around the X axis of the workspace.
| tlCamera::getRz | ( | ) | [inline, inherited] |
Get the orientation of the camera around the X axis of the workspace.
| tlSource::getWidth | ( | ) | [inline, inherited] |
Returns the width of the image source. Any image acquired through this tlSource object will have the current width.
| tlSource::getHeight | ( | ) | [inline, inherited] |
Returns the height of the image source. Any image acquired through this tlSource object will have the current height.
| tlSource::getID | ( | ) | [inline, inherited] |
Return a unique identifier for this source. Identifiers are allocated dynamically and are only valid during application run-time.
| tlSource::getFormat | ( | ) | [inline, inherited] |