stereo_processor.cpp
00001 00002 /*************************************************************************** 00003 * stereo_processor.cpp - Stereo processor interface 00004 * 00005 * Created: Fri May 18 16:02:08 2007 00006 * Copyright 2007 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #include <stereo/stereo_processor.h> 00025 00026 /** @class StereoProcessor <stereo/stereo_processor.h> 00027 * Stereo processor interface. 00028 * This interface provides access to different stereo processing 00029 * implementations. 00030 * 00031 * @author Tim Niemueller 00032 * 00033 * @fn virtual void StereoProcessor::get_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z) = 0 00034 * Get coordinates for pixel in camera coordinate system. 00035 * This retrieves coordinates in the coordinate system of the stereo camera. 00036 * Retrieving new positions may fail if no valid disparity information could 00037 * be calculated for the given point. This is indicated with the return value. 00038 * @param px x position of pixel in image 00039 * @param py y position of pixel in image 00040 * @param x upon successful return contains the x coordinate of the point in the camera coordinate sytem 00041 * @param y upon successful return contains the y coordinate of the point in the camera coordinate sytem 00042 * @param z upon successful return contains the z coordinate of the point in the camera coordinate sytem 00043 * @return true, if valid information could be retrieved and was written to (x,y,z), false otherwise 00044 * 00045 * @fn virtual void StereoProcessor::get_world_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z) = 0 00046 * Get coordinates for pixel in robot coordinate system. 00047 * This retrieves coordinates in the coordinate system of the robot holding 00048 * the stereo camera. The robot coordinate system is a right-handed cardanic 00049 * coordinate system with the X axis pointing forward, the Y axis pointing 00050 * right and the Z axis pointing downwards. 00051 * Retrieving new positions may fail if no valid disparity information could 00052 * be calculated for the given point. This is indicated with the return value. 00053 * @param px x position of pixel in image 00054 * @param py y position of pixel in image 00055 * @param x upon successful return contains the x coordinate of the point in the robot coordinate sytem 00056 * @param y upon successful return contains the y coordinate of the point in the robot coordinate sytem 00057 * @param z upon successful return contains the z coordinate of the point in the robot coordinate sytem 00058 * @return true, if valid information could be retrieved and was written to (x,y,z), false otherwise 00059 * 00060 * @fn virtual void StereoProcessor::preprocess_stereo() = 0 00061 * Do any pre-processing needed. 00062 * Do all the preprocessing needed to calculate the disparity or the YUV images. 00063 * This has been split out to be able to do only one thing. 00064 * 00065 * @fn virtual void StereoProcessor::calculate_disparity(ROI *roi = 0) = 0 00066 * Caculate disparity images. 00067 * Depending on the data the specific stereo processor needs the disparity image 00068 * is calculated. 00069 * If a region of interest (ROI) is supplied then only this region is processed. 00070 * @param roi region of interest to process 00071 * 00072 * @fn virtual void StereoProcessor::calculate_yuv(bool both = false) = 0 00073 * Caculate yuv images. 00074 * This will calculate YUV images of the cameras. By default only the reference 00075 * image is converted to YUV, as this is sufficient in most cases. If you need both 00076 * images specify so as argument. A call to this method is valid only after calling 00077 * calculate_disparity() as this may rely on data produced there. 00078 * @param both if true, both YUV images are calculated for the left and right camera, 00079 * if false only the YUV image of the reference camera is calculated (dependant on 00080 * camera) 00081 * 00082 * @fn virtual unsigned char * StereoProcessor::disparity_buffer() = 0 00083 * Get the disparity image buffer. 00084 * This returns a buffer containing the disparity image. The buffer is not copied 00085 * so do not change anything in the buffer or subsequent calls to get_xyz() and 00086 * get_world_xyz() will return invalid results. 00087 * 00088 * @fn virtual size_t StereoProcessor::disparity_buffer_size() const = 0 00089 * Get disparity buffer size. 00090 * @return size in bytes of the disparity image buffer 00091 * 00092 * @fn virtual unsigned char * StereoProcessor::yuv_buffer() = 0 00093 * Get YUV-formatted buffer of reference camera. 00094 * This will return the YUV buffer of the reference image. This is only available 00095 * after calling calculate_yuv(). 00096 * @return YUV buffer of the reference image 00097 * 00098 * @fn virtual unsigned char * StereoProcessor::auxiliary_yuv_buffer() = 0 00099 * Get YUV-formatted buffer of auxiliary camera. 00100 * This will return the YUV buffer of the auxiliary image. This is only available 00101 * after calling calculate_yuv(). 00102 * @return YUV buffer of the auxiliary image 00103 * 00104 */ 00105 00106 /** Virtual empty destructor. */ 00107 StereoProcessor::~StereoProcessor() 00108 { 00109 }
