jafar::stereosimu::Stereosimu Class Reference

A class for representing a simulation of stereo For moment, we have a base DTM and we compute some 3d Image on the base of this DTM and a model of camera. More...

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Detailed Description

A class for representing a simulation of stereo For moment, we have a base DTM and we compute some 3d Image on the base of this DTM and a model of camera.

For moment, the camera model is pretty basic (we consider an uniform disposition of point).

Definition at line 65 of file Stereosimu.hpp.

#include <Stereosimu.hpp>

List of all members.

Public Member Functions
	Stereosimu (jafar::geom::T3D &s2m, double delta_angle, double angle, double max)
	A constructor.
	~Stereosimu ()
	The destructor.
void	load_dtm (const std::string &path)
	Load the base DTM (aka the DTM that the camera will 'see')
void	dtm_scale (double scale)
	Set the scale of the dtm (if we don't want the defaut one (read from the file)).
double	dtm_scale () const
	Get the scale of the dtm.
double	cam_angle () const
	Get the max angle of the camera.
void	cam_angle (double angle)
	Set the max angle of the simulated camera.
const jafar::geom::T3D &	cam_transfo () const
	Get the transformation between the robot and the camera (const version)
jafar::geom::T3D &	cam_transfo ()
	Get the transformation between the robot and the camera.
void	cam_transfo (jafar::geom::T3D &t3d)
	Set the transformation between the robot and the camera.
void	get_im3d (jafar::geom::T3D &m2r, jafar::calife::Image3d &im3d)
	Compute the image that the camera sees.
Private Member Functions
void	clear_dtm ()
void	update_dtm_info ()
bool	get_intersection (Point &A, Point &B, Point &res)
bool	check_point (Point &pt)
Private Attributes
geom::T3DEuler	_sensorToMain
double	_max_vision
double	_cam_angle_delta
double	_cam_angle
std::vector< CosSin >	_cos_sin_table
jafar::dtm::Dtm *	_dtm
double	_dtm_scale
double	_dtm_x_orig
double	_dtm_y_orig

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Constructor & Destructor Documentation

jafar::stereosimu::Stereosimu::Stereosimu	(	jafar::geom::T3D &	s2m,
		double	delta_angle,
		double	angle,
		double	max
	)

A constructor.

Parameters:

s2m	describes the transformation between the robot and the simulated camera
delta_angle	describes the difference between two mesures of the angle
angle	describe the camera angle
max	represents the max distance seen by the camera

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Member Function Documentation

double jafar::stereosimu::Stereosimu::cam_angle

(

)

const

Get the max angle of the camera.

Returns:

_cam_angle

void jafar::stereosimu::Stereosimu::cam_angle

(

double

angle

)

Set the max angle of the simulated camera.

It is here that we precompute the _cos_sin_table.

Parameters:

angle

represents the new max angle

Returns:

Nothing.

_cam_angle and _cos_sin_table are modified.

const jafar::geom::T3D& jafar::stereosimu::Stereosimu::cam_transfo

(

)

const

Get the transformation between the robot and the camera (const version)

Returns:

a const copy of _sensorToMain

jafar::geom::T3D& jafar::stereosimu::Stereosimu::cam_transfo

(

)

Get the transformation between the robot and the camera.

Returns:

_sensorToMain

void jafar::stereosimu::Stereosimu::cam_transfo

(

jafar::geom::T3D &

t3d

)

Set the transformation between the robot and the camera.

Parameters:

t3d	represents the new transformation

Returns:

Nothing.

_sensorToMain is modified.

void jafar::stereosimu::Stereosimu::dtm_scale

(

double

scale

)

Set the scale of the dtm (if we don't want the defaut one (read from the file)).

Parameters:

scale

represents the new scale of dtm

Returns:

Nothing.

_dtm_scale is modified

double jafar::stereosimu::Stereosimu::dtm_scale

(

)

const

Get the scale of the dtm.

Returns:

_dtm_scale

void jafar::stereosimu::Stereosimu::get_im3d	(	jafar::geom::T3D &	m2r,
		jafar::calife::Image3d &	im3d
	)

Compute the image that the camera sees.

Parameters:

m2r	represents the position of the robot in the global frame
im3d	represents the resulting image

Returns:

Nothing.

im3d is modified

void jafar::stereosimu::Stereosimu::load_dtm

(

const std::string &

path

)

Load the base DTM (aka the DTM that the camera will 'see')

Parameters:

path	represents the ASCII file from which it can read the base DTM

Returns:

Nothing.

_dtm is modified

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

• modules/stereosimu/include/stereosimu/Stereosimu.hpp