Detailed Description

Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.

Definition at line 25 of file CDUO3DCamera.h.

#include <mrpt/hwdrivers/CDUO3DCamera.h>

Public Types
enum	TYMLReadResult { yrr_NAME_NON_CONSISTENT, yrr_EMPTY, yrr_OK }

Public Member Functions
	TCaptureOptions_DUO3D ()

	~TCaptureOptions_DUO3D ()

void	loadOptionsFrom (const mrpt::utils::CConfigFileBase &configSource, const std::string &sectionName, const std::string &prefix=std::string())
	Loads all the options from a config file. More...

TYMLReadResult	m_camera_int_params_from_yml (const std::string &_file_name=std::string())

TYMLReadResult	m_camera_ext_params_from_yml (const std::string &_file_name=std::string())

TYMLReadResult	m_rectify_map_from_yml (const std::string &_file_name=std::string())

Public Attributes
Image settings
int	m_img_width
	(Default = 640) Width of the captured image. More...

int	m_img_height
	(Default = 480) Height of the captured image. More...

float	m_fps
	(Default = 30) Frames per second <= 30. More...

float	m_exposure
	(Default = 50) Exposure value. More...

float	m_led
	(Default = 25) Led intensity (some device models). More...

float	m_gain
	(Default = 10) Camera gain. More...

Behaviour selection
bool	m_capture_imu
	(Default = false) Capture IMU data. More...

bool	m_capture_rectified
	(Default = true) Rectify images. Rectification map must be provided More...

bool	m_calibration_from_file
	(Default = true) Get calibration information from files provided by DUO3D Calibration App. More...

Files specification
std::string	m_rectify_map_filename
	Rectification map file provided by DUO3D Calibration App (YML format). More...

std::string	m_intrinsic_filename
	Intrinsic parameters file provided by DUO3D Calibration App (YML format). More...

std::string	m_extrinsic_filename
	Extrinsic parameters file provided by DUO3D Calibration App (YML format). More...

Others
mrpt::utils::TStereoCamera	m_stereo_camera

Member Enumeration Documentation

◆ TYMLReadResult

enum mrpt::hwdrivers::TCaptureOptions_DUO3D::TYMLReadResult

Enumerator
yrr_NAME_NON_CONSISTENT
yrr_EMPTY
yrr_OK

Definition at line 27 of file CDUO3DCamera.h.

Constructor & Destructor Documentation

◆ TCaptureOptions_DUO3D()

TCaptureOptions_DUO3D::TCaptureOptions_DUO3D ( )

Definition at line 53 of file CDUO3DCamera.cpp.

References duo_params.

◆ ~TCaptureOptions_DUO3D()

TCaptureOptions_DUO3D::~TCaptureOptions_DUO3D ( )

Definition at line 71 of file CDUO3DCamera.cpp.

References duo_params.

Member Function Documentation

◆ loadOptionsFrom()

void TCaptureOptions_DUO3D::loadOptionsFrom	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	sectionName,
		const std::string &	prefix = `std::string()`
	)

Loads all the options from a config file.

Expected format:

[sectionName]
        image_width                     = 640                   // [int]        x Resolution
        image_height                    = 480                   // [int]        y Resolution
        fps                                             = 30                    // [int]        Frames per second (<= 30)
        exposure                                = 50                    // [int]        Exposure value (1..100)
        led                                             = 0                             // [int]        Led intensity (only for some device models) (1..100).
        gain                                    = 50                    // [int]        Camera gain (1..100)
        capture_rectified               = false                 // [bool]       Rectify captured images
        capture_imu                     = true                  // [bool]       Capture IMU data from DUO3D device (if available)
        calibration_from_file   = true                  // [bool]       Use YML calibration files provided by calibration application supplied with DUO3D device
        intrinsic_filename              = ""                    // [string]     Intrinsic parameters file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
        extrinsic_filename              = ""                    // [string]     Extrinsic parameters file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
        rectify_map_filename    = ""                    // [string]     Rectification map file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.

Note: All parameter names may have an optional prefix, set with the "prefix" parameter. For example, if prefix="LEFT_", the expected variable name "camera_index" in the config section will be "LEFT_camera_index", and so on.

Definition at line 229 of file CDUO3DCamera.cpp.

References mrpt::utils::TStereoCamera::leftCamera, mrpt::utils::TStereoCamera::loadFromConfigFile(), m_calibration_from_file, m_capture_imu, m_capture_rectified, m_exposure, m_extrinsic_filename, m_fps, m_gain, m_img_height, m_img_width, m_intrinsic_filename, m_led, m_rectify_map_filename, m_stereo_camera, mrpt::utils::TCamera::ncols, mrpt::utils::TCamera::nrows, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), and mrpt::utils::TStereoCamera::rightCamera.