Fawkes API  Fawkes Development Version
stereo_processor.h
1 
2 /***************************************************************************
3  * stereo_processor.h - Stereo processor interface
4  *
5  * Created: Fri May 18 15:58:30 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 #ifndef __FIREVISION_FVUTILS_STEREO_STEREO_PROCESSOR_H_
25 #define __FIREVISION_FVUTILS_STEREO_STEREO_PROCESSOR_H_
26 
27 #include <sys/types.h>
28 
29 namespace firevision {
30 #if 0 /* just to make Emacs auto-indent happy */
31 }
32 #endif
33 
34 class ROI;
35 
37 {
38  public:
39  virtual ~StereoProcessor();
40 
41  virtual bool get_xyz(unsigned int px, unsigned int py,
42  float *x, float *y, float *z) = 0;
43 
44  virtual bool get_world_xyz(unsigned int px, unsigned int py,
45  float *x, float *y, float *z) = 0;
46 
47  virtual void preprocess_stereo() = 0;
48  virtual void calculate_disparity(ROI *roi = 0) = 0;
49  virtual void calculate_yuv(bool both = false) = 0;
50 
51  virtual unsigned char * disparity_buffer() = 0;
52  virtual size_t disparity_buffer_size() const = 0;
53  virtual unsigned char * yuv_buffer_right() = 0;
54  virtual unsigned char * yuv_buffer_left() = 0;
55 };
56 
57 } // end namespace firevision
58 
59 #endif
virtual void calculate_disparity(ROI *roi=0)=0
Caculate disparity images.
virtual ~StereoProcessor()
Virtual empty destructor.
virtual unsigned char * yuv_buffer_left()=0
Get YUV-formatted buffer of left camera.
virtual size_t disparity_buffer_size() const =0
Get disparity buffer size.
Region of interest.
Definition: roi.h:58
virtual unsigned char * yuv_buffer_right()=0
Get YUV-formatted buffer of reference camera.
virtual bool get_world_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z)=0
Get coordinates for pixel in robot coordinate system.
virtual unsigned char * disparity_buffer()=0
Get the disparity image buffer.
virtual void calculate_yuv(bool both=false)=0
Caculate yuv images.
virtual bool get_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z)=0
Get coordinates for pixel in camera coordinate system.
Stereo processor interface.
virtual void preprocess_stereo()=0
Do any pre-processing needed.