Package org.robwork.sdurw_simulation

Class GLFrameGrabber

java.lang.Object

org.robwork.sdurw_simulation.FrameGrabber

org.robwork.sdurw_simulation.GLFrameGrabber

public class GLFrameGrabber
extends FrameGrabber

An implementation of the FrameGrabber interface. The GLFrameGrabber
grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to
take pictures of the scene.

The most basic parameter of a camera is its Field of view. This
can be used as an initial camera model. Field of view can be
calculated from the focal length and the size of the CCD
typically (1/2, 1/3, 1/4) inch.
If a more realistic camera model is
required the perspective transform of a specific camera can be added

Constructor Summary

Constructors

Constructor	Description
GLFrameGrabber(int width, int height, double fov)	constructor
GLFrameGrabber(int width, int height, double fov, double near)	constructor
GLFrameGrabber(int width, int height, double fov, double near, double far)	constructor
GLFrameGrabber(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(GLFrameGrabber obj)
void	grab(FramePtr frame, State state)	this function grabs a image from the specialized source and copies it to the FrameGrabber image.
boolean	init(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer_t drawer)	initialize the grabber with a scene viewer.
void	resize(int width, int height)	resizes the image that this frameGrabber use.
void	resize(int width, int height, Image.ColorCode colorCode)	resizes the image that this frameGrabber use.

Methods inherited from class org.robwork.sdurw_simulation.FrameGrabber

getCPtr, getHeight, getImage, getWidth

Methods inherited from class java.lang.Object

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

Constructor Detail

GLFrameGrabber

public GLFrameGrabber(long cPtr,
                      boolean cMemoryOwn)

GLFrameGrabber

public GLFrameGrabber(int width,
                      int height,
                      double fov,
                      double near,
                      double far)

constructor

Parameters:

width - [in] width of image

height - [in] height of image

fov - [in] the vertical field of view angle in degree

near - [in] the minimum depth of camera.

far - [in] the maximum depth of camera.

GLFrameGrabber

public GLFrameGrabber(int width,
                      int height,
                      double fov,
                      double near)

constructor

Parameters:

width - [in] width of image

height - [in] height of image

fov - [in] the vertical field of view angle in degree

near - [in] the minimum depth of camera.

GLFrameGrabber

public GLFrameGrabber(int width,
                      int height,
                      double fov)

constructor

Parameters:

width - [in] width of image

height - [in] height of image

fov - [in] the vertical field of view angle in degree

Method Detail

getCPtr

public static long getCPtr(GLFrameGrabber obj)

delete

public void delete()

Overrides:

delete in class FrameGrabber

resize

public void resize(int width,
                   int height)

Description copied from class: FrameGrabber

resizes the image that this frameGrabber use. The colorcode will
default to the one that FrameGrabber was initialized with.

Overrides:

resize in class FrameGrabber

Parameters:

width - [in] width of image

height - [in] height of image

resize

public void resize(int width,
                   int height,
                   Image.ColorCode colorCode)

Description copied from class: FrameGrabber

resizes the image that this frameGrabber use.

Overrides:

resize in class FrameGrabber

Parameters:

width - [in] width of image.

height - [in] height of image.

colorCode - [in] Color encoding of the image.

init

public boolean init(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer_t drawer)

initialize the grabber with a scene viewer. This registers the grabber
as a camera in the scene and enables rendering.

Parameters:

drawer - [in] the scene viewer

Returns:

true if initialization succeeded, false otherwise (depends on the capabilities of
the SceneViewer).

grab

public void grab(FramePtr frame,
                 State state)

Description copied from class: FrameGrabber

this function grabs a image from the specialized source and
copies it to the FrameGrabber image.

Overrides:

grab in class FrameGrabber