mrpt::hwdrivers::CStereoGrabber_SVS Class Reference

Detailed Description

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

• Windows:
  • This class is not available.
• Linux:
  • This class is only available when compiling MRPT with "MRPT_HAS_SVS".
  • You must have the videre design's library.
  • Capture will be made in grayscale.
    • The grabber must be launch in root.

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:

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...
void *	m_videoObject
void *	m_stereoImage
void *	m_disparityParams
void *	m_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::CStereoGrabber_SVS	(	int	cameraIndex = 0,
		const TCaptureOptions_SVS &	options = TCaptureOptions_SVS()
	)

Constructor:

Definition at line 31 of file CStereoGrabber_SVS.cpp.

References mrpt::hwdrivers::TCaptureOptions_SVS::framerate, mrpt::hwdrivers::TCaptureOptions_SVS::m_Corrsize, m_disparityParams, mrpt::hwdrivers::TCaptureOptions_SVS::m_Horopter, m_initialized, mrpt::hwdrivers::TCaptureOptions_SVS::m_LR, mrpt::hwdrivers::TCaptureOptions_SVS::m_NDisp, m_options, m_procesOnChip, m_processObject, m_resolutionX, m_resolutionY, mrpt::hwdrivers::TCaptureOptions_SVS::m_SpeckleSize, m_status, mrpt::hwdrivers::TCaptureOptions_SVS::m_Thresh, mrpt::hwdrivers::TCaptureOptions_SVS::m_Unique, m_videoObject, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

~CStereoGrabber_SVS()

CStereoGrabber_SVS::~CStereoGrabber_SVS ( void  )

virtual

Destructor.

Definition at line 158 of file CStereoGrabber_SVS.cpp.

References m_videoObject.

Member Function Documentation

getStereoObservation()

bool CStereoGrabber_SVS::getStereoObservation

(

mrpt::obs::CObservationStereoImages &

out_observation

)

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

Parameters

out_observation

The 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

m_bInitialized

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_bInitialized

protected

If this has been correctly initiated.

Definition at line 65 of file CStereoGrabber_SVS.h.

m_calDisparity

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_calDisparity

protected

Definition at line 79 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_disparityParams

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

protected

Definition at line 69 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

m_initialized

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized

protected

Definition at line 77 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

m_options

TCaptureOptions_SVS mrpt::hwdrivers::CStereoGrabber_SVS::m_options

Definition at line 86 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

m_procesOnChip

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip

protected

Definition at line 78 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

m_processObject

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

protected

Definition at line 70 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

m_ptrMat

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

protected

Definition at line 74 of file CStereoGrabber_SVS.h.

m_resolutionX

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

protected

Definition at line 71 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

m_resolutionY

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

protected

Definition at line 72 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

m_status

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_status

protected

Definition at line 76 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

m_stereoImage

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

protected

Definition at line 68 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_videoObject

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

protected

Definition at line 67 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), getStereoObservation(), and ~CStereoGrabber_SVS().