TLIB documentation
Public Member Functions | |
| tlCameraSVSHead (int fps=0) | |
| tlCameraSVSHead (char *filename, int fps=0) | |
| virtual | ~tlCameraSVSHead () |
| int | getGain () |
| int | getExposure () |
| int | getContrast () |
| int | getBrightness () |
| int | getSaturation () |
| int | getRedGain () |
| int | getBlueGain () |
| int | getSharpness () |
| bool | isAutoGain () |
| bool | isAutoWhite () |
| bool | isAutoBrightness () |
| int | setGain (int gain) |
| int | setExposure (int exposure) |
| int | setContrast (int contrast) |
| int | setBrightness (int brightness) |
| int | setSaturation (int saturation) |
| int | setRedGain (int red) |
| int | setBlueGain (int blue) |
| int | setSharpness (int sharpness) |
| int | setAutoGain (bool val) |
| int | setAutoWhite (bool val) |
| int | setAutoBrightness (bool val) |
| int | open (int fps) |
| int | open (char *filename, int fps) |
| int | close () |
| virtual int | readConfig (char *filename) |
| 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 | 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 () |
| tlCameraSVSHead::tlCameraSVSHead | ( | int | fps = 0 |
) |
Default constructor. Uses the default configuration file defined in TL_CAMERA_SVS_FILENAME.
| tlCameraSVSHead::tlCameraSVSHead | ( | char * | filename, | |
| int | fps = 0 | |||
| ) |
| tlCameraSVSHead::~tlCameraSVSHead | ( | ) | [virtual] |
| tlCameraSVSHead::getGain | ( | ) | [inline] |
Get the gain of the SVS stereo head digitizer.
| tlCameraSVSHead::getExposure | ( | ) | [inline] |
Get the exposure of the SVS stereo head digitizer.
| tlCameraSVSHead::getContrast | ( | ) | [inline] |
Get the contrast of the SVS stereo head digitizer.
| tlCameraSVSHead::getBrightness | ( | ) | [inline] |
Get the brightness of the SVS stereo head digitizer.
| tlCameraSVSHead::getSaturation | ( | ) | [inline] |
Get the saturation of the SVS stereo head digitizer.
| tlCameraSVSHead::getRedGain | ( | ) | [inline] |
Get the gain of red channel of the SVS stereo head digitizer.
| tlCameraSVSHead::getBlueGain | ( | ) | [inline] |
Get the gain of blue channel of the SVS stereo head digitizer.
| tlCameraSVSHead::getSharpness | ( | ) | [inline] |
Get the sharpness of the SVS stereo head digitizer.
| tlCameraSVSHead::isAutoGain | ( | ) | [inline] |
Get the status of the automatic gain of the SVS stereo head digitizer.
| tlCameraSVSHead::isAutoWhite | ( | ) | [inline] |
Get the status of the automatic white balance of the SVS stereo head digitizer.
| tlCameraSVSHead::isAutoBrightness | ( | ) | [inline] |
Get the status of the automatic brightness of the SVS stereo head digitizer.
| int tlCameraSVSHead::setGain | ( | int | gain | ) |
Set the gain of the SVS stereo head digitizer.
| gain | new gain value [%] |
| int tlCameraSVSHead::setExposure | ( | int | exposure | ) |
Set the exposure of the SVS stereo head digitizer.
| exposure | new exposure value [%] |
| int tlCameraSVSHead::setContrast | ( | int | contrast | ) |
Set the contrast of the SVS stereo head digitizer.
| contrast | new contrast value [%] |
| int tlCameraSVSHead::setBrightness | ( | int | brightness | ) |
Set the brightness of the SVS stereo head digitizer.
| brightness | new brightness value [%] |
| int tlCameraSVSHead::setSaturation | ( | int | saturation | ) |
Set the saturation of the SVS stereo head digitizer.
| saturation | new saturation value [%] |
| int tlCameraSVSHead::setRedGain | ( | int | red | ) |
Set the gain of the red channel of the SVS stereo head digitizer.
| red | new red gain value [%] |
| int tlCameraSVSHead::setBlueGain | ( | int | blue | ) |
Set the gain of the blue channel of the SVS stereo head digitizer.
| blue | new blue gain value [%] |
| int tlCameraSVSHead::setSharpness | ( | int | sharpness | ) |
Set the sharpness of the SVS stereo head digitizer.
| sharpness | new sharpness value [%] |
| int tlCameraSVSHead::setAutoGain | ( | bool | val | ) |
Enable/disable the automatic gain of the SVS stereo head digitizer.
| val | true to enable automatic gain, false to disable it. |
| int tlCameraSVSHead::setAutoWhite | ( | bool | val | ) |
Enable/disable the automatic white balance of the SVS stereo head digitizer.
| val | true to enable automatic white balance, false to disable it. |
| int tlCameraSVSHead::setAutoBrightness | ( | bool | val | ) |
Enable/disable the automatic brightness of the SVS stereo head digitizer.
| val | true to enable automatic brightness, false to disable it. |
| int tlCameraSVSHead::open | ( | int | fps | ) |
Open the SVS digitizer using the default configuration file.
| int tlCameraSVSHead::open | ( | char * | filename, | |
| int | fps | |||
| ) |
Open the SVS digitizer using the given configuration file.
| filename | name of the configuration file | |
| fps | image acquisition rate (frames per second) to use |
| int tlCameraSVSHead::close | ( | ) |
| int tlCameraSVSHead::readConfig | ( | char * | filename | ) | [virtual] |
Read in the SVS calibration and parameters file.
| filename | configuration file name |
Reimplemented from tlCameraSVSBase.
| int tlCameraSVSHead::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.
| image | [out] a valid image pointer that will receive the image. |
Implements tlCameraSVSBase.
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 tlCameraSVSBase.
| int tlCameraSVSHead::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.
| image | [out] a valid image pointer that will receive the image. |
Implements tlCameraSVSBase.
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 tlCameraSVSBase.
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. |
Implements tlCameraSVSBase.
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. |
Implements tlCameraSVSBase.
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. |
Implements tlCameraSVSBase.
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. |
Implements tlCameraSVSBase.
| int tlCameraSVSBase::setOffX | ( | int | offX | ) | [inherited] |
Set the horopter offset in the SVS parameters structure.
| offX | horopter offset on X axis [pix] |
| int tlCameraSVSBase::setOffY | ( | int | offY | ) | [inherited] |
Set the horopter offset in the SVS parameters structure.
| offY | horopter offset on Y axis [pix] |
| int tlCameraSVSBase::setThreshold | ( | int | threshold | ) | [inherited] |
Set the confidence threshold in the SVS parameters structure.
| threshold | confidence threshold [arbitrary] |
| int tlCameraSVSBase::setNdisp | ( | int | ndisp | ) | [inherited] |
Set the number of disparities in the SVS parameters structure.
| ndisp | number of disparities [pix] |
| tlCameraSVSBase::getOffX | ( | ) | [inline, inherited] |
Get the horopter offset from the SVS parameters structure.
| tlCameraSVSBase::getThreshold | ( | ) | [inline, inherited] |
Get the confidence threshold from the SVS parameters structure.
| tlCameraSVSBase::getNdisp | ( | ) | [inline, inherited] |
Get the number of disparities to compute from the SVS parameters structure.
| 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.
| image | [out] a valid image pointer that will receive the image. |
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.
| image | [out] a valid image pointer that will receive the image. | |
| rect | a pointer to the portion of the image to acquire. |
| 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.
| disparity | [out] a valid image pointer that will receive the disparity map. |
Implements tlCameraStereo.
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. |
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.
| 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. |
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.
| location | [int/out] location to convert |
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.
| location | location to convert | |
| dest | [out] resulting location (in both image and world frame) |
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.
| location | [int/out] location to convert |
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.
| location | location to convert | |
| dest | [out] resulting location (in both image and world frame) |
Implements tlCameraStereo.
| 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] |