Package org.robwork.sdurw_sensor

Class CameraModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_sensor.SensorModel

org.robwork.sdurw_sensor.CameraModel

public class CameraModel
extends SensorModel

The CameraModel class defines a generel pinhole camera model where
camera parameters and state values are stored.

Constructor Summary

Constructors

Constructor	Description
CameraModel(long cPtr, boolean cMemoryOwn)
CameraModel(ProjectionMatrix projection, java.lang.String name, FramePtr frame)	constructor
CameraModel(ProjectionMatrix projection, java.lang.String name, FramePtr frame, java.lang.String modelInfo)	constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(CameraModel obj)
double	getFarClippingPlane()	get far clipping plane
double	getFieldOfViewX()	get horisontal field of view.
double	getFieldOfViewY()	get Vertical field of view.
ImagePtr	getImage(State state)	returns the image if it has been saved in the State.
double	getNearClippingPlane()	get near clipping plane
ProjectionMatrix	getProjectionMatrix()	get the camera projection matrix
void	setImage(ImagePtr img, State state)	set the image in the state

Methods inherited from class org.robwork.sdurw_sensor.SensorModel

attachTo, getCPtr, getDescription, getFrame, getName, getPropertyMap, setDescription, setName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

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

Constructor Detail

CameraModel

public CameraModel(long cPtr,
                   boolean cMemoryOwn)

CameraModel

public CameraModel(ProjectionMatrix projection,
                   java.lang.String name,
                   FramePtr frame,
                   java.lang.String modelInfo)

constructor

Parameters:

projection - [in] pinhole projection model

name - [in] name of camera

frame - [in] frame that camera is attached/referenced to

modelInfo - [in] text description of the camera

CameraModel

public CameraModel(ProjectionMatrix projection,
                   java.lang.String name,
                   FramePtr frame)

constructor

Parameters:

projection - [in] pinhole projection model

name - [in] name of camera

frame - [in] frame that camera is attached/referenced to

Method Detail

getCPtr

public static long getCPtr(CameraModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

getImage

public ImagePtr getImage(State state)

returns the image if it has been saved in the State. Else null is
returned.

Parameters:

state - [in] the state in which the image is taken.

Returns:

last image captured from camera.

setImage

public void setImage(ImagePtr img,
                     State state)

set the image in the state

Parameters:

img - [in] image to set in state

state - [in/out] the state in which to set the image.

getProjectionMatrix

public ProjectionMatrix getProjectionMatrix()

get the camera projection matrix

getFieldOfViewX

public double getFieldOfViewX()

get horisontal field of view.

Returns:

field of view in degrees

getFieldOfViewY

public double getFieldOfViewY()

get Vertical field of view.

Returns:

field of view in degrees

getFarClippingPlane

public double getFarClippingPlane()

get far clipping plane

Returns:

distance to far clipping plane in meters.

getNearClippingPlane

public double getNearClippingPlane()

get near clipping plane

Returns:

distance to near clipping plane in meters.