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C++ reference for MRPT 1.4.0
mrpt
hwdrivers
CStereoGrabber_Bumblebee_libdc1394.h
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/* +---------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+---------------------------------------------------------------------------+ */
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#pragma once
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#include <
mrpt/obs/CObservationStereoImages.h
>
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#include <
mrpt/hwdrivers/link_pragmas.h
>
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#include <
mrpt/utils/CUncopiable.h
>
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#include <
mrpt/hwdrivers/CImageGrabber_dc1394.h
>
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#include <mrpt/config.h>
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namespace
mrpt
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{
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namespace
hwdrivers
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{
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/** Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.
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* Only raw, unrectified images can be captured with this class, which can be manually rectified given
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* correct calibration parameters.
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*
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* See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of live capture of rectified images using
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* the vendor (PointGreyResearch) Triclops API.
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*
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* Once connected to a camera, you can call `getStereoObservation()` to retrieve the stereo images.
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*
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* \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
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* \ingroup mrpt_hwdrivers_grp
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*/
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class
HWDRIVERS_IMPEXP
CStereoGrabber_Bumblebee_libdc1394
:
public
mrpt::utils::CUncopiable
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{
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public
:
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/** Constructor. Parameters have the same meaning as in CImageGrabber_dc1394::CImageGrabber_dc1394() */
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CStereoGrabber_Bumblebee_libdc1394
(uint64_t cameraGUID, uint16_t cameraUnit,
double
frameRate);
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/** Destructor */
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virtual
~
CStereoGrabber_Bumblebee_libdc1394
(
void
);
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/** Grab stereo images, and return the pair of rectified images.
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* \param out_observation The object to be filled with sensed data.
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*
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* \note The member "CObservationStereoImages::refCameraPose" must be set on the return of
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* this method by the user, since we don't know here the robot physical structure.
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*
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* \return false on any error, true if all go fine.
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*/
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bool
getStereoObservation(
mrpt::obs::CObservationStereoImages
&out_observation );
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protected
:
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mrpt::hwdrivers::CImageGrabber_dc1394
*
m_firewire_capture
;
//!< The actual capture object used in Linux / Mac.
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bool
m_bInitialized
;
//!< If this has been correctly initiated
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};
// End of class
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}
// End of NS
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}
// End of NS
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link_pragmas.h
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition:
CParticleFilter.h:16
mrpt::hwdrivers::CImageGrabber_dc1394
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library.
Definition:
CImageGrabber_dc1394.h:124
CImageGrabber_dc1394.h
CObservationStereoImages.h
mrpt::utils::CUncopiable
The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...
Definition:
CUncopiable.h:30
mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394
Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.
Definition:
CStereoGrabber_Bumblebee_libdc1394.h:34
CUncopiable.h
HWDRIVERS_IMPEXP
#define HWDRIVERS_IMPEXP
Definition:
hwdrivers_impexp.h:82
mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394::m_bInitialized
bool m_bInitialized
If this has been correctly initiated.
Definition:
CStereoGrabber_Bumblebee_libdc1394.h:56
mrpt::obs::CObservationStereoImages
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
Definition:
obs/CObservationStereoImages.h:41
mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394::m_firewire_capture
mrpt::hwdrivers::CImageGrabber_dc1394 * m_firewire_capture
The actual capture object used in Linux / Mac.
Definition:
CStereoGrabber_Bumblebee_libdc1394.h:54
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