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CStereoGrabber_Bumblebee_libdc1394.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #pragma once
10 
13 #include <mrpt/utils/CUncopiable.h>
15 
16 #include <mrpt/config.h>
17 
18 namespace mrpt
19 {
20  namespace hwdrivers
21  {
22  /** Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.
23  * Only raw, unrectified images can be captured with this class, which can be manually rectified given
24  * correct calibration parameters.
25  *
26  * See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of live capture of rectified images using
27  * the vendor (PointGreyResearch) Triclops API.
28  *
29  * Once connected to a camera, you can call `getStereoObservation()` to retrieve the stereo images.
30  *
31  * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
32  * \ingroup mrpt_hwdrivers_grp
33  */
35  {
36  public:
37  /** Constructor. Parameters have the same meaning as in CImageGrabber_dc1394::CImageGrabber_dc1394() */
38  CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);
39 
40  /** Destructor */
42 
43  /** Grab stereo images, and return the pair of rectified images.
44  * \param out_observation The object to be filled with sensed data.
45  *
46  * \note The member "CObservationStereoImages::refCameraPose" must be set on the return of
47  * this method by the user, since we don't know here the robot physical structure.
48  *
49  * \return false on any error, true if all go fine.
50  */
51  bool getStereoObservation( mrpt::obs::CObservationStereoImages &out_observation );
52 
53  protected:
54  mrpt::hwdrivers::CImageGrabber_dc1394 *m_firewire_capture; //!< The actual capture object used in Linux / Mac.
55 
56  bool m_bInitialized; //!< If this has been correctly initiated
57  }; // End of class
58  } // End of NS
59 } // End of NS
60 
mrpt::hwdrivers::CImageGrabber_dc1394 * m_firewire_capture
The actual capture object used in Linux / Mac.
unsigned __int16 uint16_t
Definition: rptypes.h:46
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library...
Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library...
Observation class for either a pair of left+right or left+disparity images from a stereo camera...
The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...
Definition: CUncopiable.h:30
unsigned __int64 uint64_t
Definition: rptypes.h:52
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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