Fawkes API  Fawkes Development Version
stereo_processor.cpp
1 
2 /***************************************************************************
3  * stereo_processor.cpp - Stereo processor interface
4  *
5  * Created: Fri May 18 16:02:08 2007
6  * Copyright 2007 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #include <fvstereo/stereo_processor.h>
25 
26 namespace firevision {
27 #if 0 /* just to make Emacs auto-indent happy */
28 }
29 #endif
30 
31 /** @class StereoProcessor <fvstereo/stereo_processor.h>
32  * Stereo processor interface.
33  * This interface provides access to different stereo processing
34  * implementations.
35  *
36  * @author Tim Niemueller
37  *
38  * @fn virtual void StereoProcessor::get_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z) = 0
39  * Get coordinates for pixel in camera coordinate system.
40  * This retrieves coordinates in the coordinate system of the stereo camera.
41  * Retrieving new positions may fail if no valid disparity information could
42  * be calculated for the given point. This is indicated with the return value.
43  * @param px x position of pixel in image
44  * @param py y position of pixel in image
45  * @param x upon successful return contains the x coordinate of the point in the camera coordinate sytem
46  * @param y upon successful return contains the y coordinate of the point in the camera coordinate sytem
47  * @param z upon successful return contains the z coordinate of the point in the camera coordinate sytem
48  * @return true, if valid information could be retrieved and was written to (x,y,z), false otherwise
49  *
50  * @fn virtual void StereoProcessor::get_world_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z) = 0
51  * Get coordinates for pixel in robot coordinate system.
52  * This retrieves coordinates in the coordinate system of the robot holding
53  * the stereo camera. The robot coordinate system is a right-handed cardanic
54  * coordinate system with the X axis pointing forward, the Y axis pointing
55  * right and the Z axis pointing downwards.
56  * Retrieving new positions may fail if no valid disparity information could
57  * be calculated for the given point. This is indicated with the return value.
58  * @param px x position of pixel in image
59  * @param py y position of pixel in image
60  * @param x upon successful return contains the x coordinate of the point in the robot coordinate sytem
61  * @param y upon successful return contains the y coordinate of the point in the robot coordinate sytem
62  * @param z upon successful return contains the z coordinate of the point in the robot coordinate sytem
63  * @return true, if valid information could be retrieved and was written to (x,y,z), false otherwise
64  *
65  * @fn virtual void StereoProcessor::preprocess_stereo() = 0
66  * Do any pre-processing needed.
67  * Do all the preprocessing needed to calculate the disparity or the YUV images.
68  * This has been split out to be able to do only one thing.
69  *
70  * @fn virtual void StereoProcessor::calculate_disparity(ROI *roi = 0) = 0
71  * Caculate disparity images.
72  * Depending on the data the specific stereo processor needs the disparity image
73  * is calculated.
74  * If a region of interest (ROI) is supplied then only this region is processed.
75  * @param roi region of interest to process
76  *
77  * @fn virtual void StereoProcessor::calculate_yuv(bool both = false) = 0
78  * Caculate yuv images.
79  * This will calculate YUV images of the cameras. By default only the reference
80  * image is converted to YUV, as this is sufficient in most cases. If you need both
81  * images specify so as argument. A call to this method is valid only after calling
82  * calculate_disparity() as this may rely on data produced there.
83  * @param both if true, both YUV images are calculated for the left and right camera,
84  * if false only the YUV image of the reference camera is calculated (dependant on
85  * camera)
86  *
87  * @fn virtual unsigned char * StereoProcessor::disparity_buffer() = 0
88  * Get the disparity image buffer.
89  * This returns a buffer containing the disparity image. The buffer is not copied
90  * so do not change anything in the buffer or subsequent calls to get_xyz() and
91  * get_world_xyz() will return invalid results.
92  * @return disparity buffer
93  *
94  * @fn virtual size_t StereoProcessor::disparity_buffer_size() const = 0
95  * Get disparity buffer size.
96  * @return size in bytes of the disparity image buffer
97  *
98  * @fn virtual unsigned char * StereoProcessor::yuv_buffer_right() = 0
99  * Get YUV-formatted buffer of reference camera.
100  * This will return the YUV buffer of the reference image. This is only available
101  * after calling calculate_yuv().
102  * @return YUV buffer of the reference image
103  *
104  * @fn virtual unsigned char * StereoProcessor::yuv_buffer_left() = 0
105  * Get YUV-formatted buffer of left camera.
106  * This will return the YUV buffer of the auxiliary image. This is only available
107  * after calling calculate_yuv().
108  * @return YUV buffer of the auxiliary image
109  *
110  */
111 
112 /** Virtual empty destructor. */
114 {
115 }
116 
117 } // end namespace firevision
virtual ~StereoProcessor()
Virtual empty destructor.