CStereoGrabber_SVS.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservationStereoImages.h>

namespace mrpt::hwdrivers
{
/** Options used when creating a STOC Videre Design camera capture object
 * \ingroup mrpt_hwdrivers_grp
 */
struct TCaptureOptions_SVS
{
    TCaptureOptions_SVS(
        int _frame_width = 640, int _frame_height = 480, double _framerate = 30,
        int _NDisp = 64, int _Corrsize = 15, int _LR = false, int _Thresh = 10,
        int _Unique = 13, int _Horopter = 0, int _SpeckleSize = 100,
        bool _procesOnChip = true, bool _calDisparity = true);

    /** Capture resolution (Default: 640x480) */
    int frame_width, frame_height;

    /** Indicates if the STOC camera must capture rectified images (Default:
     * true -> rectified) */
    bool getRectified;
    /** STOC camera frame rate (Default: 30 fps) */
    double framerate;
    /** number of STOC's disparities (Default: 64 ) */
    int m_NDisp;
    int m_Corrsize;  // correlation window size
    int m_LR;  // no left-right check, not available
    int m_Thresh;  // texture filter
    int m_Unique;  // uniqueness filter
    int m_Horopter;
    int m_SpeckleSize;
    bool m_procesOnChip;
    bool m_calDisparity;
};

/** 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.
 *
 * \sa You'll probably want to use instead the most generic camera grabber in
 *MRPT: mrpt::hwdrivers::CCameraSensor
 * \ingroup mrpt_hwdrivers_grp
 */
class CStereoGrabber_SVS
{
   protected:
    /** If this has been correctly initiated */
    bool m_bInitialized{false};

    void* m_videoObject{nullptr};  // svsVideoImages*
    void* m_stereoImage{nullptr};  // svsStereoImage*
    void* m_disparityParams{nullptr};  // svsDisparityParams*
    void* m_processObject;  // svsStereoProcess
    unsigned int m_resolutionX;
    unsigned int m_resolutionY;

    unsigned char* m_ptrMat;

    bool m_status;
    bool m_initialized;
    bool m_procesOnChip;
    bool m_calDisparity;

   private:
   public:
    TCaptureOptions_SVS m_options;

    /** Constructor: */
    CStereoGrabber_SVS(
        int cameraIndex = 0,
        const TCaptureOptions_SVS& options = TCaptureOptions_SVS());

    CStereoGrabber_SVS(const CStereoGrabber_SVS&) = delete;
    CStereoGrabber_SVS& operator=(const CStereoGrabber_SVS&) = delete;

    /** Destructor */
    virtual ~CStereoGrabber_SVS();

    /** Grab stereo images, and return the pair of rectified images.
     * \param 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.
     *
     * \return false on any error, true if all go fine.
     */
    bool getStereoObservation(
        mrpt::obs::CObservationStereoImages& out_observation);

};  // End of class
static_assert(
    !std::is_copy_constructible_v<CStereoGrabber_SVS> &&
        !std::is_copy_assignable_v<CStereoGrabber_SVS>,
    "Copy Check");
}  // namespace mrpt::hwdrivers