Sentis-ToF-M100 API  1.0.0
API_for_using_the_Bluetechnix_Sentis_ToF_M100_camera
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Macros | Functions | Variables
3d.cpp File Reference
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <stdlib.h>
#include <m100api.h>
#include <stdio.h>
#include <stdarg.h>
#include <math.h>
#include <iostream>
Include dependency graph for 3d.cpp:

Macros

#define TICKS_PER_SECOND   20
 
#define LEN   8192
 
#define VSNPRINTF   vsnprintf
 

Functions

int initCamera (T_SENTIS_HANDLE *handle)
 Helper method that starts the connection with the camera and set the default image_data format. More...
 
int getFrame (T_SENTIS_HANDLE handle)
 Get a fame from the camera and save it in the global buffer variable. More...
 
int stopCamera (T_SENTIS_HANDLE handle)
 Close the connections with the camera and set free data structures. More...
 
void init ()
 Called before main loop to set up the program.
 
void reshape (int w, int h)
 Called every time a window is resized to resize the projection matrix.
 
void camera (void)
 
void printv (va_list args, const char *format)
 Print axis names.
 
void print (const char *format,...)
 Loop for printing axis names.
 
void drawAxes ()
 draw axes at defined position More...
 
void display (int value)
 
void firstDisplay ()
 Called at the start of the program.
 
void mouseMovement (int x, int y)
 Called after mouse clicking. It calculates the movement of the mouse and redisplays the scene.
 
void mouse (int button, int state, int x, int y)
 Callback for mouse clicks.
 
void keyboard (unsigned char key, int x, int y)
 Callback for normal key pressed.
 
void windowSpecial (int key, int x, int y)
 Callback for arrow keys.
 
int main (int argc, char **argv)
 

Variables

const int TIMER_MILLISECONDS = 100 / TICKS_PER_SECOND
 
float xpos = 0
 
float ypos = 0
 
float zpos = 0
 
float xrot = 0
 
float yrot = 0
 
float angle =0.0
 
float lastx
 
float lasty
 
double dim =300.0
 
int windowWidth =512
 
int windowHeight =512
 
int moving = 0
 
int toggleAxes = 1
 
T_SENTIS_HANDLE handler
 
T_ERROR_CODE error
 

Detailed Description

Version
1.0.0

Macro Definition Documentation

#define TICKS_PER_SECOND   20

DESCRIPTION

Example application for the sentis-ToF-m100 camera API

This application shows an OpenGl view which displays 3D images based on 3D coordinates. It uses the XYZ+I data format. The camera is supposed to be at 1,5m from the ground. The vindows shows 300cm*300cm*300cm. The Y and Z axis show +150cm. The X axis points 250cm.

The amplitude values are used to set the color (gray) intensity of the image.

Function Documentation

void drawAxes ( )

draw axes at defined position

We have defined the height and width of 300cm. the y and z axis show the 150cm positive. The camera shoud be at 1,5m over the ground in order to get a centered image. The depth of the X axis is set to 250cm.

int getFrame ( T_SENTIS_HANDLE  handle)

Get a fame from the camera and save it in the global buffer variable.

Parameters
[in]T_SENTIS_HANDLECamera handler.
int initCamera ( T_SENTIS_HANDLE handle)

Helper method that starts the connection with the camera and set the default image_data format.

Parameters
[in,out]T_SENTIS_HANDLE* Camera handler.
int stopCamera ( T_SENTIS_HANDLE  handle)

Close the connections with the camera and set free data structures.

Parameters
[in]T_SENTIS_HANDLECamera handler.