tlCameraSVS::tlCameraSVS ( )

Default constructor. Uses the default configuration file defined in TL_CAMERA_SVS_FILENAME.

Note:: See error management for details.

tlCameraSVS::tlCameraSVS ( char * filename )

Specifies which configuration file to use.

Note:: See error management for details.

tlCameraSVS::~tlCameraSVS ( ) [virtual]

Default destructor.

Note:: See error management for details.

tlCameraSVS::getLeftSource ( ) [inline]

Get the image source corresponding to the left image sensor.

Returns:: A pointer to a valid tlSource.

tlCameraSVS::getRightSource ( ) [inline]

Get the image source corresponding to the right image sensor.

Returns:: A pointer to a valid tlSource.

int tlCameraSVS::setSource	(	tlSource *	leftSource,
		tlSource *	rightSource
	)

Specifies which image sources to use for image acquisition. Both image sources must be valid and ready to provide images via the grab() and grabQueued() methods.

Parameters:

	leftSource	valid pointer to a source corresponding to the left image sensor.
	rightSource	valid pointer to a source corresponding to the right image sensor.

Returns:: 0 on success, -1 otherwise.
See error management for details.

int tlCameraSVS::setLeftSource ( tlSource * source )

Specifies which image source to use for left image acquisition. Both image sources must be valid and ready to provide images via the grab() and grabQueued() methods.

Parameters:

source

valid pointer to a source corresponding to the left image sensor.

Returns:: 0 on success, -1 otherwise.
See error management for details.

int tlCameraSVS::setRightSource ( tlSource * source )

Specifies which image source to use for right image acquisition. Both image sources must be valid and ready to provide images via the grab() and grabQueued() methods.

Parameters:

source

valid pointer to a source corresponding to the right image sensor.

Returns:: 0 on success, -1 otherwise.
See error management for details.

int tlCameraSVS::grab ( tlImage * image ) [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.

Parameters:

image

[out] a valid image pointer that will receive the image.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraSVSBase.

int tlCameraSVS::grab	(	tlImage *	image,
		tlRect *	rect
	)			`[virtual]`

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.

Parameters:

	image	[out] a valid image pointer that will receive the image.
	rect	a pointer to the portion of the image to acquire.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraSVSBase.

int tlCameraSVS::grabQueued ( tlImage * image ) [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.

Parameters:

image

[out] a valid image pointer that will receive the image.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Note:: This routine is faster than grab() because image acquisition happens in the background. However, since the grab command is sent to the grabber during the previous call to the grabQueued() routine, the image returned can be out-of-date.

Implements tlCameraSVSBase.

int tlCameraSVS::grabQueued	(	tlImage *	image,
		tlRect *	rect
	)			`[virtual]`

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.

Parameters:

	image	[out] a valid image pointer that will receive the image.
	rect	a pointer to the portion of the image to acquire.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Note:: This routine is faster than grab() because image acquisition happens in the background. However, since the grab command is sent to the grabber during the previous call to the grabQueued() routine, the image returned can be out-of-date.

Implements tlCameraSVSBase.

int tlCameraSVS::grab	(	tlImage *	image,
		tlImage *	disparity
	)			`[virtual]`

This method acquires a full image and the related disparity map. The image will have the size and format determined by the camera settings.

Parameters:

	image	[out] a valid image pointer that will receive the image.
	disparity	[out] a valid image pointer that will receive the disparity map.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraSVSBase.

int tlCameraSVS::grab	(	tlImage *	image,
		tlImage *	disparity,
		tlRect *	rect
	)			`[virtual]`

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.

Parameters:

	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.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraSVSBase.

int tlCameraSVS::grabQueued	(	tlImage *	image,
		tlImage *	disparity
	)			`[virtual]`

This call acquires a full image and the related disparity map. The image will have the size and format determined by the camera settings.

Parameters:

	image	[out] a valid image pointer that will receive the image.
	disparity	[out] a valid image pointer that will receive the disparity map.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Note:: This method is faster than grab() because image acquisition happens in the background. However, since the grab command is sent to the grabber during the previous call to the grabQueued() routine, the image returned can be out-of-date.

Implements tlCameraSVSBase.

int tlCameraSVS::grabQueued	(	tlImage *	image,
		tlImage *	disparity,
		tlRect *	rect
	)			`[virtual]`

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.

Parameters:

	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.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Note:: This method is faster than grab() because image acquisition happens in the background. However, since the grab command is sent to the grabber during the previous call to the grabQueued() routine, the image returned can be out-of-date.

Implements tlCameraSVSBase.

int tlCameraSVSBase::setOffX ( int offX ) [inherited]

Set the horopter offset in the SVS parameters structure.

Parameters:

offX

horopter offset on X axis [pix]

Returns:: 0 on success, -1 otherwise.
See error management for details.

See also:: Read the SVS documentation for more information.

int tlCameraSVSBase::setOffY ( int offY ) [inherited]

Set the horopter offset in the SVS parameters structure.

Parameters:

offY

horopter offset on Y axis [pix]

Returns:: 0 on success, -1 otherwise.
See error management for details.

See also:: Read the SVS documentation for more information.

int tlCameraSVSBase::setThreshold ( int threshold ) [inherited]

Set the confidence threshold in the SVS parameters structure.

Parameters:

threshold

confidence threshold [arbitrary]

Returns:: 0 on success, -1 otherwise.
See error management for details.

See also:: Read the SVS documentation for more information.

int tlCameraSVSBase::setNdisp ( int ndisp ) [inherited]

Set the number of disparities in the SVS parameters structure.

Parameters:

ndisp

number of disparities [pix]

Returns:: 0 on success, -1 otherwise.
See error management for details.

See also:: Read the SVS documentation for more information.

tlCameraSVSBase::getOffX ( ) [inline, inherited]

Get the horopter offset from the SVS parameters structure.

See also:: Read the SVS documentation for more information.

tlCameraSVSBase::getThreshold ( ) [inline, inherited]

Get the confidence threshold from the SVS parameters structure.

See also:: Read the SVS documentation for more information.

tlCameraSVSBase::getNdisp ( ) [inline, inherited]

Get the number of disparities to compute from the SVS parameters structure.

See also:: Read the SVS documentation for more information.

int tlCameraSVSBase::readConfig ( char * filename ) [virtual, inherited]

Read in the SVS calibration and parameters file.

Parameters:

filename

configuration file name

Returns:: 0 on success, -1 otherwise.
See error management for details.

See also:: Read the SVS documentation for more information.

Reimplemented in tlCameraSVSHead.

int tlCameraSVSBase::getRight ( tlImage * image ) [virtual, inherited]

This method returns the full image from the SVS right source acquired during the last grab() call. The image will have the size and format the source is currently configured for.

Parameters:

image

[out] a valid image pointer that will receive the image.

Returns:: 0 on success, -1 otherwise.
See error management for details.

int tlCameraSVSBase::getRight	(	tlImage *	image,
		tlRect *	rect
	)			`[virtual, inherited]`

This method returns a portion of the right image from the SVS right source acquired during the last grab() call. 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.

Parameters:

	image	[out] a valid image pointer that will receive the image.
	rect	a pointer to the portion of the image to acquire.

Returns:: 0 on success, -1 otherwise.
See error management for details.

int tlCameraSVSBase::getDisparity ( tlImage * disparity ) [virtual, inherited]

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.

Parameters:

disparity

[out] a valid image pointer that will receive the disparity map.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCameraSVSBase::getDisparity	(	tlImage *	disparity,
		tlRect *	rect
	)			`[virtual, inherited]`

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.

Parameters:

	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.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCameraSVSBase::getDisparity	(	tlImage *	leftImage,
		tlImage *	rightImage,
		tlImage *	disparity
	)			`[virtual, inherited]`

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.

Parameters:

	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.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCameraSVSBase::getDisparity	(	tlImage *	leftImage,
		tlImage *	rightImage,
		tlImage *	disparity,
		tlRect *	rect
	)			`[virtual, inherited]`

Todo:: make it effectively compute within rect only

Implements tlCameraStereo.

int tlCameraSVSBase::toWorld ( tlLocation * location ) [virtual, inherited]

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.

Parameters:

location

[int/out] location to convert

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCameraSVSBase::toWorld	(	tlLocation *	location,
		tlLocation *	dest
	)			`[virtual, inherited]`

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.

Parameters:

	location	location to convert
	dest	[out] resulting location (in both image and world frame)

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCameraSVSBase::toImage ( tlLocation * location ) [virtual, inherited]

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.

Parameters:

location

[int/out] location to convert

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCameraSVSBase::toImage	(	tlLocation *	location,
		tlLocation *	dest
	)			`[virtual, inherited]`

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.

Parameters:

	location	location to convert
	dest	[out] resulting location (in both image and world frame)

Returns:: 0 on success, -1 otherwise.
See error management for details.

Implements tlCameraStereo.

int tlCamera::setPosition	(	int	Tx,
		int	Ty,
		int	Tz
	)			`[inherited]`

Set the camera position in the workspace.

Parameters:

	Tx	camera position on the X axis.
	Ty	camera position on the Y axis.
	Tz	camera position on the Z axis.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Note:: This assumes a right-handed, orthogonal coordonate system.

int tlCamera::setOrientation	(	int	Rx,
		int	Ry,
		int	Rz
	)			`[inherited]`

Set the camera orientation in the workspace.

Parameters:

	Rx	camera orientation around the X axis.
	Ry	camera orientation around the Y axis.
	Rz	camera orientation around the Z axis.

Returns:: 0 on success, -1 otherwise.
See error management for details.

Note:: This assumes a right-handed, orthogonal coordonate system.

tlCamera::isCalibrated ( ) [inline, inherited]

Check whether the camera returns calibrated (undistorted) images or not.

Returns:: True if camera is calibrated,
False otherwise.

tlCamera::getTx ( ) [inline, inherited]

Get the position of the camera on the X axis of the workspace.

Returns:: The camera position in X.

tlCamera::getTy ( ) [inline, inherited]

Get the position of the camera on the Y axis of the workspace.

Returns:: The camera position in Y.

tlCamera::getTz ( ) [inline, inherited]

Get the position of the camera on the Z axis of the workspace.

Returns:: The camera position in Z.

tlCamera::getRx ( ) [inline, inherited]

Get the orientation of the camera around the X axis of the workspace.

Returns:: The camera orientation around X.

tlCamera::getRy ( ) [inline, inherited]

Get the orientation of the camera around the X axis of the workspace.

Returns:: The camera orientation around Y.

tlCamera::getRz ( ) [inline, inherited]

Get the orientation of the camera around the X axis of the workspace.

Returns:: The camera orientation around Z.

tlSource::getWidth ( ) [inline, inherited]

Returns the width of the image source. Any image acquired through this tlSource object will have the current width.

Returns:: The width in pixels of the image source.
See error management for details.

tlSource::getHeight ( ) [inline, inherited]

Returns the height of the image source. Any image acquired through this tlSource object will have the current height.

Returns:: The height in pixels of the image source.
See error management for details.

tlSource::getID ( ) [inline, inherited]

Return a unique identifier for this source. Identifiers are allocated dynamically and are only valid during application run-time.

Returns:: A unique numerical identifier on success, -1 otherwise.
See error management for details.

tlSource::getFormat ( ) [inline, inherited]

Returns the format of the image source. Any image acquired through this tlSource object will have the current format.

Returns:: The format of the image source.


Public Member Functions
	tlCameraSVS ()
	tlCameraSVS (char *filename)
virtual	~tlCameraSVS ()
tlSource *	getLeftSource ()
tlSource *	getRightSource ()
int	setSource (tlSource leftSource, tlSource rightSource)
int	setLeftSource (tlSource *source)
int	setRightSource (tlSource *source)
virtual int	grab (tlImage *image)
virtual int	grab (tlImage image, tlRect rect)
virtual int	grabQueued (tlImage *image)
virtual int	grabQueued (tlImage image, tlRect rect)
virtual int	grab (tlImage image, tlImage disparity)
virtual int	grab (tlImage image, tlImage disparity, tlRect *rect)
virtual int	grabQueued (tlImage image, tlImage disparity)
virtual int	grabQueued (tlImage image, tlImage disparity, tlRect *rect)
int	setOffX (int offX)
int	setOffY (int offY)
int	setThreshold (int threshold)
int	setNdisp (int ndisp)
int	getOffX ()
int	getThreshold ()
int	getNdisp ()
virtual int	readConfig (char *filename)
virtual int	getRight (tlImage *image)
virtual int	getRight (tlImage image, tlRect rect)
virtual int	getDisparity (tlImage *disparity)
virtual int	getDisparity (tlImage disparity, tlRect rect)
virtual int	getDisparity (tlImage rightImage, tlImage leftImage, tlImage *disparity)
virtual int	getDisparity (tlImage leftImage, tlImage rightImage, tlImage disparity, tlRect rect)
virtual int	toWorld (tlLocation *location)
virtual int	toWorld (tlLocation location, tlLocation dest)
virtual int	toImage (tlLocation *location)
virtual int	toImage (tlLocation location, tlLocation dest)
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 ()

tlCameraSVS Class Reference

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation