CStereoGrabber_Bumblebee_libdc1394.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservationStereoImages.h>
#include <mrpt/hwdrivers/link_pragmas.h>
#include <mrpt/utils/CUncopiable.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

#include <mrpt/config.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.
                  * Only raw, unrectified images can be captured with this class, which can be manually rectified given
                  * correct calibration parameters.
                  *
                  * See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of live capture of rectified images using
                  * the vendor (PointGreyResearch) Triclops API.
                  *
                  * Once connected to a camera, you can call `getStereoObservation()` to retrieve the stereo images.
                  *
                  * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CStereoGrabber_Bumblebee_libdc1394 : public mrpt::utils::CUncopiable
                {
                public:
                        /** Constructor. Parameters have the same meaning as in CImageGrabber_dc1394::CImageGrabber_dc1394() */
                        CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double   frameRate);

                        /** Destructor */
                        virtual ~CStereoGrabber_Bumblebee_libdc1394(void);

                        /** Grab stereo images, and return the pair of rectified images.
                         * \param out_observation The object to be filled with sensed data.
                         *
                         * \note The member "CObservationStereoImages::refCameraPose" must be set on the return of
                         *  this method by the user, since we don't know here the robot physical structure.
                         *
                         * \return false on any error, true if all go fine.
                        */
                        bool  getStereoObservation( mrpt::obs::CObservationStereoImages &out_observation );

                protected:
                        mrpt::hwdrivers::CImageGrabber_dc1394   *m_firewire_capture;  //!< The actual capture object used in Linux / Mac.

                        bool                    m_bInitialized;                                 //!< If this has been correctly initiated
                };      // End of class
        } // End of NS
} // End of NS