Camera Class Reference

A Robot Camera. More...

#include <camera.h>

Classes
struct	CameraImage
	structure to store the image data and information for display More...
struct	PostDrawCallback

Public Types
typedef std::vector< CameraImage >	CameraImages

Public Member Functions
	Camera (const CameraConf &conf=getDefaultConf())
	Creates a camera. More...
virtual	~Camera ()
virtual void	init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, Primitive *body, const osg::Matrix &pose)
	initializes the camera. More...
virtual void	setPose (const osg::Matrix &pose)
	changes the relative pose of the camera More...
virtual osg::Matrix	getPose ()
	relative pose of the camera More...
virtual const CameraImages &	getImages () const
	all images (raw and processed) More...
virtual const osg::Image *	getImage () const
	last image of processing stack More...
virtual osg::Camera *	getRRTCam ()
virtual void	update ()
bool	isInitialized ()

Static Public Member Functions
static CameraConf	getDefaultConf ()

Detailed Description

A Robot Camera.

Implements a simulated camera with full OpenGL rendering.

Member Typedef Documentation

typedef std::vector<CameraImage > CameraImages

Constructor & Destructor Documentation

Camera

(

const CameraConf &

conf = getDefaultConf()

)

Creates a camera.

Note that the order in which the image processors are positioned in conf.imageProcessors matters. The resulting CameraImages are stored in a list (see getImages) and usually the processors use the last image in this list (result of last processing).

~Camera ( )

virtual

Member Function Documentation

static CameraConf getDefaultConf ( )

inlinestatic

virtual const osg::Image* getImage ( ) const

inlinevirtual

last image of processing stack

virtual const CameraImages& getImages ( ) const

inlinevirtual

all images (raw and processed)

osg::Matrix getPose ( )

virtual

relative pose of the camera

returns the relative pose of the camera

virtual osg::Camera* getRRTCam ( )

inlinevirtual

void init ( const OdeHandle &  odeHandle, const OsgHandle &  osgHandle, Primitive *  body, const osg::Matrix &  pose  )

virtual

initializes the camera.

The OSG camera is created and the raw image and the imageprocessor is initialized.

bool isInitialized ( )

inline

void setPose ( const osg::Matrix &  pose )

virtual

changes the relative pose of the camera

void update ( )

virtual

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The documentation for this class was generated from the following files:

• camera.h
• camera.cpp