Package org.robwork.sdurw

Class StereoCameraModelPtr

java.lang.Object

org.robwork.sdurw.StereoCameraModelPtr

public class StereoCameraModelPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
StereoCameraModelPtr()	Default constructor yielding a NULL-pointer.
StereoCameraModelPtr(long cPtr, boolean cMemoryOwn)
StereoCameraModelPtr(StereoCameraModel ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
StereoCameraModel	__ref__()	Dereferencing operator.
void	attachTo(Frame frame)	Sets the frame to which the sensor should be attached
void	delete()
StereoCameraModel	deref()	The pointer stored in the object.
boolean	equals(StereoCameraModel p)
static long	getCPtr(StereoCameraModelPtr obj)
StereoCameraModel	getDeref()	Member access operator.
java.lang.String	getDescription()	returns a description of this sensor
Frame	getFrame()	The frame to which the sensor is attached. The frame can be NULL.
ImagePtr	getLeftImage(State state)	get left image
java.lang.String	getName()	returns the name of this sensor
PropertyMap	getPropertyMap()	gets the propertymap of this sensor
ImagePtr	getRightImage(State state)	get right image
StateStructurePtr	getStateStructure()	Get the state structure.
boolean	isNull()	checks if the pointer is null
boolean	isRegistered()	Check if object has registered its state.
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	registerIn(State state)	initialize this stateless data to a specific state
void	registerIn(StateStructurePtr state)	register this stateless object in a statestructure.
boolean	SaveCalibration(java.lang.String filename, double fov, double wx, double wy, Transform3Dd TL, Transform3Dd TR)	utility function for saving a stereo calibration to a file
boolean	SaveCalibration(java.lang.String filename, double fov, double wx, double wy, Transform3Dd TL, Transform3Dd TR, StereoCameraModel.FOVDirection direction)	utility function for saving a stereo calibration to a file
boolean	SaveCalibration(java.lang.String filename, double fov, double wx, double wy, Transform3Dd TL, Transform3Dd TR, StereoCameraModel.FOVDirection direction, StereoCameraModel.CalibrationFormat format)	utility function for saving a stereo calibration to a file
void	setDescription(java.lang.String description)	sets the description of this sensor
void	setLeftImage(ImagePtr img, State state)	set left image
void	setName(java.lang.String name)	sets the name of this sensor
void	setRightImage(ImagePtr img, State state)	set right image
void	unregister()	unregisters all state data of this stateless object
void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T)	utility function for writing a camera calibration to a stream
void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T, VectorDouble dist)	utility function for writing a camera calibration to a stream
void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T, VectorDouble dist, StereoCameraModel.FOVDirection direction)	utility function for writing a camera calibration to a stream
void	WriteCalibration(SWIGTYPE_p_std__ostream os, double fov, double wx, double wy, Transform3Dd T, VectorDouble dist, StereoCameraModel.FOVDirection direction, StereoCameraModel.CalibrationFormat format)	utility function for writing a camera calibration to a stream

Methods inherited from class java.lang.Object

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

Constructor Detail

StereoCameraModelPtr

public StereoCameraModelPtr(long cPtr,
                            boolean cMemoryOwn)

StereoCameraModelPtr

public StereoCameraModelPtr()

Default constructor yielding a NULL-pointer.

StereoCameraModelPtr

public StereoCameraModelPtr(StereoCameraModel ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(StereoCameraModelPtr obj)

delete

public void delete()

deref

public StereoCameraModel deref()

The pointer stored in the object.

__ref__

public StereoCameraModel __ref__()

Dereferencing operator.

getDeref

public StereoCameraModel getDeref()

Member access operator.

equals

public boolean equals(StereoCameraModel p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

getLeftImage

public ImagePtr getLeftImage(State state)

get left image

setLeftImage

public void setLeftImage(ImagePtr img,
                         State state)

set left image

getRightImage

public ImagePtr getRightImage(State state)

get right image

setRightImage

public void setRightImage(ImagePtr img,
                          State state)

set right image

SaveCalibration

public boolean SaveCalibration(java.lang.String filename,
                               double fov,
                               double wx,
                               double wy,
                               Transform3Dd TL,
                               Transform3Dd TR,
                               StereoCameraModel.FOVDirection direction,
                               StereoCameraModel.CalibrationFormat format)

utility function for saving a stereo calibration to a file

Parameters:

filename - [in] file to save to

fov - [in] field of view (FOV) [rad]

wx - [in] horizontal pixels

wy - [in] vertical pixels

TL - [in] transformation of left camera frame

TR - [in] transformation of right camera frame

direction - [in] the direction of the specified FOV

format - [in] calibration file format to use

Returns:

true if the file was successfully saved, false otherwise

SaveCalibration

public boolean SaveCalibration(java.lang.String filename,
                               double fov,
                               double wx,
                               double wy,
                               Transform3Dd TL,
                               Transform3Dd TR,
                               StereoCameraModel.FOVDirection direction)

utility function for saving a stereo calibration to a file

Parameters:

filename - [in] file to save to

fov - [in] field of view (FOV) [rad]

wx - [in] horizontal pixels

wy - [in] vertical pixels

TL - [in] transformation of left camera frame

TR - [in] transformation of right camera frame

direction - [in] the direction of the specified FOV

Returns:

true if the file was successfully saved, false otherwise

SaveCalibration

public boolean SaveCalibration(java.lang.String filename,
                               double fov,
                               double wx,
                               double wy,
                               Transform3Dd TL,
                               Transform3Dd TR)

utility function for saving a stereo calibration to a file

Parameters:

filename - [in] file to save to

fov - [in] field of view (FOV) [rad]

wx - [in] horizontal pixels

wy - [in] vertical pixels

TL - [in] transformation of left camera frame

TR - [in] transformation of right camera frame

Returns:

true if the file was successfully saved, false otherwise

WriteCalibration

public void WriteCalibration(SWIGTYPE_p_std__ostream os,
                             double fov,
                             double wx,
                             double wy,
                             Transform3Dd T,
                             VectorDouble dist,
                             StereoCameraModel.FOVDirection direction,
                             StereoCameraModel.CalibrationFormat format)

utility function for writing a camera calibration to a stream

Parameters:

os - the stream to write to

fov - field of view (FOV) [rad]

wx - horizontal pixels

wy - vertical pixels

T - [in] transformation of the camera frame

dist - [in] distortion parameters

direction - [in] the direction of the specified FOV

format - [in] calibration file format to use

WriteCalibration

public void WriteCalibration(SWIGTYPE_p_std__ostream os,
                             double fov,
                             double wx,
                             double wy,
                             Transform3Dd T,
                             VectorDouble dist,
                             StereoCameraModel.FOVDirection direction)

utility function for writing a camera calibration to a stream

Parameters:

os - the stream to write to

fov - field of view (FOV) [rad]

wx - horizontal pixels

wy - vertical pixels

T - [in] transformation of the camera frame

dist - [in] distortion parameters

direction - [in] the direction of the specified FOV

WriteCalibration

public void WriteCalibration(SWIGTYPE_p_std__ostream os,
                             double fov,
                             double wx,
                             double wy,
                             Transform3Dd T,
                             VectorDouble dist)

utility function for writing a camera calibration to a stream

Parameters:

os - the stream to write to

fov - field of view (FOV) [rad]

wx - horizontal pixels

wy - vertical pixels

T - [in] transformation of the camera frame

dist - [in] distortion parameters

WriteCalibration

public void WriteCalibration(SWIGTYPE_p_std__ostream os,
                             double fov,
                             double wx,
                             double wy,
                             Transform3Dd T)

utility function for writing a camera calibration to a stream

Parameters:

os - the stream to write to

fov - field of view (FOV) [rad]

wx - horizontal pixels

wy - vertical pixels

T - [in] transformation of the camera frame

setName

public void setName(java.lang.String name)

sets the name of this sensor

Parameters:

name - [in] name of this sensor

setDescription

public void setDescription(java.lang.String description)

sets the description of this sensor

Parameters:

description - [in] description of this sensor

getName

public java.lang.String getName()

returns the name of this sensor

Returns:

name of sensor

getDescription

public java.lang.String getDescription()

returns a description of this sensor

Returns:

reference to this sensors description

getFrame

public Frame getFrame()

The frame to which the sensor is attached.

The frame can be NULL.

attachTo

public void attachTo(Frame frame)

Sets the frame to which the sensor should be attached

Parameters:

frame - The frame, which can be NULL

getPropertyMap

public PropertyMap getPropertyMap()

gets the propertymap of this sensor

Returns:

reference to rw::core::PropertyMap

registerIn

public void registerIn(State state)

initialize this stateless data to a specific state

Parameters:

state - [in] the state in which to register the data.

Note: the data will be registered in the state structure of the state
and any copies or other instances of the state will therefore also
contain the added states.

registerIn

public void registerIn(StateStructurePtr state)

register this stateless object in a statestructure.

unregister

public void unregister()

unregisters all state data of this stateless object

getStateStructure

public StateStructurePtr getStateStructure()

Get the state structure.

Returns:

the state structure.

isRegistered

public boolean isRegistered()

Check if object has registered its state.

Returns:

true if registered, false otherwise.