interface for mono or stereo cameras in VR headsets More...

#include <vr_camera.h>

Public Member Functions
camera inspection and control
uint8_t	get_nr_cameras () const
	return number of cameras in the headset (1 for mono and 2 for stereo)

virtual bool	put_camera_to_head_matrix (int camera_index, float *pose_matrix) const =0
	access to 3x4 matrix in column major format for transformation from camera (0 .. left, 1 .. right) to head coordinates

virtual bool	put_projection_matrix (int camera_index, bool undistorted, float z_near, float z_far, float *projection_matrix) const =0
	access to 4x4 matrix in column major format for perspective transformation of camera (0..left, 1..right)

virtual bool	put_camera_intrinsics (int camera_index, bool undistorted, float focal_length_2d_ptr, float center_2d_ptr) const =0
	write the focal lengths in x- and y-direction to access to focal_length_2d_ptr[0\|1] and the texture center to center_2d_ptr[0\|1]

bool	start ()
	start streaming of frames

bool	stop ()
	stop streaming of frames

CameraState	get_state () const
	return the camera state

bool	has_error () const
	check for error

const std::string &	get_last_error () const
	return last error, if no error has occured, the function returns an empty string

Protected Member Functions
	vr_camera ()
	construct camera object

bool	initialize ()
	initialization is typically called the c

virtual	~vr_camera ()=default
	destruct camera

Protected Attributes
std::string	last_error
	store last error as a string to be as flexible as possible

Friends
class	vr_kit
	give vr kit access to camera constructor

class	vr_driver
	give vr driver access to camera initialization and destruction

access to frames
uint8_t	num_cameras

CameraFrameFormat	frame_format

CameraFrameSplit	frame_split

bool	frame_flipped

CameraState	state

CameraFrameFormat	get_frame_format () const
	query pixel format

CameraFrameSplit	get_frame_split () const
	query stereo frame layout

bool	is_frame_flipped () const
	query whether frame row order is from top to bottom

bool	get_frame (std::vector< uint8_t > &frame_data, uint32_t &width, uint32_t &height, bool undistorted, bool maximum_valid_rectangle)
	check for a new frame, return false if not available. Otherwise copy frame to provided buffer that is resized if necessary

bool	get_gl_texture_id (uint32_t &tex_id, uint32_t &width, uint32_t &height, bool undistorted, float max_valid_texcoord_range[4])
	query id of shared opengl texture id

Detailed Description

interface for mono or stereo cameras in VR headsets

Definition at line 38 of file vr_camera.h.

Constructor & Destructor Documentation

◆ vr_camera()

vr::vr_camera::vr_camera ( )

protected

construct camera object

Definition at line 8 of file vr_camera.cxx.

Member Function Documentation

◆ get_frame()

bool vr::vr_camera::get_frame	(	std::vector< uint8_t > &	frame_data,
		uint32_t &	width,
		uint32_t &	height,
		bool	undistorted,
		bool	maximum_valid_rectangle
	)

check for a new frame, return false if not available. Otherwise copy frame to provided buffer that is resized if necessary

Definition at line 60 of file vr_camera.cxx.

References last_error.

Referenced by vr_test::init_frame().

◆ get_frame_format()

CameraFrameFormat vr::vr_camera::get_frame_format ( ) const

query pixel format

Definition at line 84 of file vr_camera.cxx.

◆ get_frame_split()

CameraFrameSplit vr::vr_camera::get_frame_split ( ) const

query stereo frame layout

Definition at line 89 of file vr_camera.cxx.

Referenced by vr::configure_seethrough_shader_program(), and vr_test::init_frame().

◆ get_gl_texture_id()

bool vr::vr_camera::get_gl_texture_id	(	uint32_t &	tex_id,
		uint32_t &	width,
		uint32_t &	height,
		bool	undistorted,
		float	max_valid_texcoord_range[4]
	)

query id of shared opengl texture id

Definition at line 72 of file vr_camera.cxx.

References last_error.

Referenced by vr_test::init_frame().

◆ get_last_error()

const std::string & vr::vr_camera::get_last_error ( ) const

return last error, if no error has occured, the function returns an empty string

return last error

Definition at line 13 of file vr_camera.cxx.

References last_error.

Referenced by vr_test::init_frame().

◆ get_nr_cameras()

uint8_t vr::vr_camera::get_nr_cameras ( ) const

return number of cameras in the headset (1 for mono and 2 for stereo)

Definition at line 99 of file vr_camera.cxx.

Referenced by vr::configure_seethrough_shader_program().

◆ get_state()

CameraState vr::vr_camera::get_state ( ) const

return the camera state

Definition at line 94 of file vr_camera.cxx.

Referenced by vr_test::init_frame().

◆ has_error()

bool vr::vr_camera::has_error ( ) const

inline

check for error

Definition at line 71 of file vr_camera.h.

Referenced by vr_test::init_frame().

◆ initialize()

bool vr::vr_camera::initialize ( )

protected

initialization is typically called the c

Definition at line 18 of file vr_camera.cxx.

References last_error.

Referenced by vr::vr_driver::register_vr_kit().

◆ is_frame_flipped()

bool vr::vr_camera::is_frame_flipped ( ) const

query whether frame row order is from top to bottom

Definition at line 104 of file vr_camera.cxx.

◆ start()

bool vr::vr_camera::start ( )

start streaming of frames

Definition at line 31 of file vr_camera.cxx.

References last_error.

◆ stop()

bool vr::vr_camera::stop ( )

stop streaming of frames

Definition at line 47 of file vr_camera.cxx.

References last_error.

Referenced by vr::vr_kit::~vr_kit().

Friends And Related Symbol Documentation

◆ vr_driver

friend class vr_driver

friend

give vr driver access to camera initialization and destruction

Definition at line 46 of file vr_camera.h.

◆ vr_kit

friend class vr_kit

friend

give vr kit access to camera constructor

Definition at line 42 of file vr_camera.h.

Member Data Documentation

◆ frame_flipped

bool vr::vr_camera::frame_flipped

protected

Definition at line 93 of file vr_camera.h.

◆ frame_format

CameraFrameFormat vr::vr_camera::frame_format

protected

Definition at line 91 of file vr_camera.h.

◆ frame_split

CameraFrameSplit vr::vr_camera::frame_split

protected

Definition at line 92 of file vr_camera.h.

◆ last_error

std::string vr::vr_camera::last_error

mutableprotected

store last error as a string to be as flexible as possible

Definition at line 52 of file vr_camera.h.

Referenced by get_frame(), get_gl_texture_id(), get_last_error(), initialize(), start(), and stop().

◆ num_cameras

uint8_t vr::vr_camera::num_cameras

protected

Definition at line 90 of file vr_camera.h.

◆ state

CameraState vr::vr_camera::state

protected

Definition at line 94 of file vr_camera.h.

The documentation for this class was generated from the following files:

libs/vr/vr_camera.h
libs/vr/vr_camera.cxx

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

access to frames

Detailed Description

Constructor & Destructor Documentation

◆ vr_camera()

Member Function Documentation

◆ get_frame()

◆ get_frame_format()

◆ get_frame_split()

◆ get_gl_texture_id()

◆ get_last_error()

◆ get_nr_cameras()

◆ get_state()

◆ has_error()

◆ initialize()

◆ is_frame_flipped()

◆ start()

◆ stop()

Friends And Related Symbol Documentation

◆ vr_driver

◆ vr_kit

Member Data Documentation

◆ frame_flipped

◆ frame_format

◆ frame_split

◆ last_error

◆ num_cameras

◆ state