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CStereoGrabber_SVS.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 #ifndef CStereoGrabber_SVS_H
10 #define CStereoGrabber_SVS_H
11 
14 #include <mrpt/utils/CUncopiable.h>
15 
16 namespace mrpt
17 {
18  namespace hwdrivers
19  {
20 
21 
22  /** Options used when creating a STOC Videre Design camera capture object
23  * \ingroup mrpt_hwdrivers_grp
24  */
26  {
27  TCaptureOptions_SVS(int _frame_width=640, int _frame_height=480 , double _framerate = 30, int _NDisp= 64,
28  int _Corrsize=15, int _LR = false, int _Thresh = 10, int _Unique = 13, int _Horopter = 0,int _SpeckleSize = 100,bool _procesOnChip = true,bool _calDisparity = true);
29 
30  int frame_width, frame_height; //!< Capture resolution (Default: 640x480)
31 
32  bool getRectified; //!< Indicates if the STOC camera must capture rectified images (Default: true -> rectified)
33  double framerate; //!< STOC camera frame rate (Default: 30 fps)
34  int m_NDisp; //!< number of STOC's disparities (Default: 64 )
35  int m_Corrsize; // correlation window size
36  int m_LR; // no left-right check, not available
37  int m_Thresh; // texture filter
38  int m_Unique; // uniqueness filter
43 
44  };
45 
46  /** A class for grabing stereo images from a STOC camera of Videre Design
47  * NOTE:
48  * - Windows:
49  * - This class is not available.
50  *
51  * - Linux:
52  * - This class is only available when compiling MRPT with "MRPT_HAS_SVS".
53  * - You must have the videre design's library.
54  * - Capture will be made in grayscale.
55  * - The grabber must be launch in root.
56  *
57  * Once connected to a camera, you can call "getStereoObservation" to retrieve the Disparity images.
58  *
59  * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
60  * \ingroup mrpt_hwdrivers_grp
61  */
63  {
64  protected:
65  bool m_bInitialized; //!< If this has been correctly initiated
66 
67  void *m_videoObject; // svsVideoImages*
68  void *m_stereoImage; // svsStereoImage*
69  void *m_disparityParams; // svsDisparityParams*
70  void *m_processObject; // svsStereoProcess
71  unsigned int m_resolutionX;
72  unsigned int m_resolutionY;
73 
74  unsigned char *m_ptrMat;
75 
76  bool m_status;
80 
81 
82  private:
83 
84  public:
85 
87 
88  /** Constructor: */
89  CStereoGrabber_SVS( int cameraIndex = 0, const TCaptureOptions_SVS &options = TCaptureOptions_SVS() );
90 
91  /** Destructor */
92  virtual ~CStereoGrabber_SVS(void);
93 
94  /** Grab stereo images, and return the pair of rectified images.
95  * \param out_observation The object to be filled with sensed data.
96  *
97  * NOTICE: (1) That the member "CObservationStereoImages::refCameraPose" must be
98  * set on the return of this method, since we don't know here the robot physical structure.
99  * (2) The images are already rectified.
100  *
101  * \return false on any error, true if all go fine.
102  */
103  bool getStereoObservation( mrpt::obs::CObservationStereoImages &out_observation );
104 
105  }; // End of class
106 
107  } // End of NS
108 } // End of NS
109 
110 
111 #endif
A class for grabing stereo images from a STOC camera of Videre Design NOTE:
int m_NDisp
number of STOC&#39;s disparities (Default: 64 )
double framerate
STOC camera frame rate (Default: 30 fps)
bool m_bInitialized
If this has been correctly initiated.
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
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Options used when creating a STOC Videre Design camera capture object.
bool getRectified
Indicates if the STOC camera must capture rectified images (Default: true -> rectified) ...



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