Revision: 7090
http://playerstage.svn.sourceforge.net/playerstage/?rev=7090&view=rev
Author: veedee
Date: 2008-10-10 11:59:04 +0000 (Fri, 10 Oct 2008)
Log Message:
-----------
added a new interface for stereo cameras
Added Paths:
-----------
code/player/trunk/libplayercore/interfaces/065_stereo.def
Added: code/player/trunk/libplayercore/interfaces/065_stereo.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/065_stereo.def
(rev 0)
+++ code/player/trunk/libplayercore/interfaces/065_stereo.def 2008-10-10
11:59:04 UTC (rev 7090)
@@ -0,0 +1,46 @@
+description {
+ * @brief Stereo imagery (left-right channels, disparity and a 3-D stereo
point cloud)
+
+The @p stereo interface is used to get synchronized access to the data
+provided by a stereo camera, namely the left and right image channels,
+the disparity image and the 3-D stereo point cloud. Image data can be
+in many formats (see the camera interface).
+}
+
+message { DATA, STATE, 1, player_stereo_data_t };
+
+typedef struct player_pointcloud3d_stereo_element
+{
+ /** X [m] */
+ float px;
+ /** Y [m] */
+ float py;
+ /** Z [m] */
+ float pz;
+ /** Red color channel */
+ uint8_t red;
+ /** Green color channel */
+ uint8_t green;
+ /** Blue color channel */
+ uint8_t blue;
+} player_pointcloud3d_stereo_element_t;
+
+/** @brief Data: state (@ref PLAYER_STEREO_DATA_STATE) */
+typedef struct player_stereo_data
+{
+ /* Left channel image */
+ player_camera_data_t left_channel;
+ /* Right channel image */
+ player_camera_data_t right_channel;
+
+ /* Disparity image */
+ player_camera_data_t disparity;
+
+ /* 3-D stereo point cloud */
+ uint32_t points_count;
+ player_pointcloud3d_stereo_element_t *points;
+// player_pointcloud3d_data_t pointcloud;
+
+ /* Special mode flags: define what images are being sent */
+ uint32_t mode;
+} player_stereo_data_t;
Property changes on: code/player/trunk/libplayercore/interfaces/065_stereo.def
___________________________________________________________________
Added: svn:executable
+ *
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