CameraSensor Class Reference

Class to connect a Camera as a sensor to a robot. More...

#include <camerasensor.h>

Inherits lpzrobots::Sensor.

Inherited by DirectCameraSensor, OpticalFlow, and PositionCameraSensor.

Collaboration diagram for CameraSensor:

[legend]

List of all members.

Public Member Functions
	CameraSensor ()
	Creates a camera sensor.
virtual	~CameraSensor ()
virtual void	setInitData (Camera *camera, const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose)
	sets the initial data structures like the camera.
virtual void	setPose (const osg::Matrix &pose)
	changes the relative pose of the camera
virtual osg::Matrix	getPose ()
	relative pose of the camera
virtual void	init (Primitive *own)
	this function initialized the camera (no need to overload) (Sensor interface)
virtual bool	sense (const GlobalData &globaldata)=0
	overload this function an process the image (use camera->getImage())
virtual int	getSensorNumber () const =0
	overload this function and return the number of sensor values
virtual int	get (sensor *sensors, int length) const =0
	overload this function and return the sensor values
virtual void	update ()
	we update the camera's visual appearance
virtual std::list< sensor >	get () const
	this is implemented based on get(sensor*,int)
Protected Member Functions
virtual void	intern_init ()=0
	overload this function to initialized you data structures.
Protected Attributes
Camera *	camera
OdeHandle	odeHandle
OsgHandle	osgHandle
osg::Matrix	pose
bool	isInitDataSet

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Detailed Description

Class to connect a Camera as a sensor to a robot.

Essentially it implements the conversion from the 2D image to a list of double sensor values. The initialization is a bit confusing: use the contructor (of a inherited class) to provide custom parameter; setInitData sets the handles and the camera which has to be called before the normal initialization of the Sensor (via init()). A subclass has to overload intern_init() to initialize intern structures (e.g. number of channels), sense() and get().

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Constructor & Destructor Documentation

CameraSensor

(

)

Creates a camera sensor.

Use setInitData() to make it useable.

~CameraSensor

(

)

[virtual]

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Member Function Documentation

virtual std::list<sensor> get

(

)

const [virtual]

this is implemented based on get(sensor*,int)

Implements Sensor.

virtual int get	(	sensor *	sensors,
		int	length
	)			const [pure virtual]

overload this function and return the sensor values

Reimplemented from Sensor.

Implemented in DirectCameraSensor, PositionCameraSensor, and OpticalFlow.

osg::Matrix getPose

(

)

[virtual]

relative pose of the camera

returns the relative pose of the camera

virtual int getSensorNumber

(

)

const [pure virtual]

overload this function and return the number of sensor values

Implements Sensor.

Implemented in DirectCameraSensor, PositionCameraSensor, and OpticalFlow.

void init

(

Primitive *

own

)

[virtual]

this function initialized the camera (no need to overload) (Sensor interface)

Implements Sensor.

virtual void intern_init

(

)

[protected, pure virtual]

overload this function to initialized you data structures.

Use camera->getImage() to get the image from the camera

Implemented in DirectCameraSensor, PositionCameraSensor, and OpticalFlow.

virtual bool sense

(

const GlobalData &

globaldata

)

[pure virtual]

overload this function an process the image (use camera->getImage())

Implements Sensor.

Implemented in DirectCameraSensor, PositionCameraSensor, MotionCameraSensor, and OpticalFlow.

void setInitData	(	Camera *	camera,
		const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const osg::Matrix &	pose
	)			[virtual]

sets the initial data structures like the camera.

The camera will be initialized in init() (don't initialize it before).

Parameters:

pose

position and orientation of camera wrt. the primitive that is given at init()

void setPose

(

const osg::Matrix &

pose

)

[virtual]

changes the relative pose of the camera

void update

(

)

[virtual]

we update the camera's visual appearance

Reimplemented from Sensor.

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Member Data Documentation

Camera* camera [protected]

bool isInitDataSet [protected]

OdeHandle odeHandle [protected]

OsgHandle osgHandle [protected]

osg::Matrix pose [protected]

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

• camerasensor.h
• camerasensor.cpp