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mrpt::hwdrivers::CStereoGrabber_SVS Class Reference

Detailed Description

A class for grabing stereo images from a STOC camera of Videre Design NOTE:

Once connected to a camera, you can call "getStereoObservation" to retrieve the Disparity images.

See Also
You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor

Definition at line 62 of file CStereoGrabber_SVS.h.

#include <mrpt/hwdrivers/CStereoGrabber_SVS.h>

Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_SVS:
Inheritance graph

Public Member Functions

 CStereoGrabber_SVS (int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())
 Constructor: More...
 
virtual ~CStereoGrabber_SVS (void)
 Destructor. More...
 
bool getStereoObservation (mrpt::obs::CObservationStereoImages &out_observation)
 Grab stereo images, and return the pair of rectified images. More...
 

Public Attributes

TCaptureOptions_SVS m_options
 

Protected Attributes

bool m_bInitialized
 If this has been correctly initiated. More...
 
voidm_videoObject
 
voidm_stereoImage
 
voidm_disparityParams
 
voidm_processObject
 
unsigned int m_resolutionX
 
unsigned int m_resolutionY
 
unsigned char * m_ptrMat
 
bool m_status
 
bool m_initialized
 
bool m_procesOnChip
 
bool m_calDisparity
 

Constructor & Destructor Documentation

CStereoGrabber_SVS::CStereoGrabber_SVS ( int  cameraIndex = 0,
const TCaptureOptions_SVS options = TCaptureOptions_SVS() 
)
CStereoGrabber_SVS::~CStereoGrabber_SVS ( void  )
virtual

Destructor.

Definition at line 158 of file CStereoGrabber_SVS.cpp.

References m_videoObject.

Member Function Documentation

bool CStereoGrabber_SVS::getStereoObservation ( mrpt::obs::CObservationStereoImages out_observation)

Grab stereo images, and return the pair of rectified images.

Parameters
out_observationThe object to be filled with sensed data.

NOTICE: (1) That the member "CObservationStereoImages::refCameraPose" must be set on the return of this method, since we don't know here the robot physical structure. (2) The images are already rectified.

Returns
false on any error, true if all go fine.

Definition at line 168 of file CStereoGrabber_SVS.cpp.

References ASSERT_, m_calDisparity, m_disparityParams, m_procesOnChip, m_processObject, m_resolutionX, m_resolutionY, m_stereoImage, m_videoObject, MRPT_UNUSED_PARAM, and mrpt::obs::CObservationStereoImages::swap().

Member Data Documentation

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_bInitialized
protected

If this has been correctly initiated.

Definition at line 65 of file CStereoGrabber_SVS.h.

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_calDisparity
protected

Definition at line 79 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_disparityParams
protected

Definition at line 69 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized
protected

Definition at line 77 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

TCaptureOptions_SVS mrpt::hwdrivers::CStereoGrabber_SVS::m_options

Definition at line 86 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip
protected

Definition at line 78 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_processObject
protected

Definition at line 70 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

unsigned char* mrpt::hwdrivers::CStereoGrabber_SVS::m_ptrMat
protected

Definition at line 74 of file CStereoGrabber_SVS.h.

unsigned int mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionX
protected

Definition at line 71 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

unsigned int mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionY
protected

Definition at line 72 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_status
protected

Definition at line 76 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_stereoImage
protected

Definition at line 68 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_videoObject
protected



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