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_HANDLE

Camera 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_HANDLE

Camera handler.