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
29namespace firevision {
30
31class ROI;
32
34{
35public:
36 virtual ~StereoProcessor();
37
38 virtual bool get_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z) = 0;
39
40 virtual bool get_world_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z) = 0;
41
42 virtual void preprocess_stereo() = 0;
43 virtual void calculate_disparity(ROI *roi = 0) = 0;
44 virtual void calculate_yuv(bool both = false) = 0;
45
46 virtual unsigned char *disparity_buffer() = 0;
47 virtual size_t disparity_buffer_size() const = 0;
48 virtual unsigned char *yuv_buffer_right() = 0;
49 virtual unsigned char *yuv_buffer_left() = 0;
50};
51
52} // end namespace firevision
53
54#endif
Region of interest.
Definition: roi.h:55
Stereo processor interface.
virtual void preprocess_stereo()=0
Do any pre-processing needed.
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 void calculate_yuv(bool both=false)=0
Caculate yuv images.
virtual size_t disparity_buffer_size() const =0
Get disparity buffer size.
virtual unsigned char * yuv_buffer_left()=0
Get YUV-formatted buffer of left camera.
virtual unsigned char * disparity_buffer()=0
Get the disparity image buffer.
virtual ~StereoProcessor()
Virtual empty destructor.
virtual void calculate_disparity(ROI *roi=0)=0
Caculate disparity 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.