MRPT
1.9.9
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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.
Definition at line 35 of file CStereoGrabber_Bumblebee_libdc1394.h.
#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>
Public Member Functions | |
CStereoGrabber_Bumblebee_libdc1394 (uint64_t cameraGUID, uint16_t cameraUnit, double frameRate) | |
Constructor. More... | |
CStereoGrabber_Bumblebee_libdc1394 (const CStereoGrabber_Bumblebee_libdc1394 &)=delete | |
CStereoGrabber_Bumblebee_libdc1394 & | operator= (const CStereoGrabber_Bumblebee_libdc1394 &)=delete |
virtual | ~CStereoGrabber_Bumblebee_libdc1394 () |
Destructor. More... | |
bool | getStereoObservation (mrpt::obs::CObservationStereoImages &out_observation) |
Grab stereo images, and return the pair of rectified images. More... | |
Protected Attributes | |
mrpt::hwdrivers::CImageGrabber_dc1394 * | m_firewire_capture |
The actual capture object used in Linux / Mac. More... | |
bool | m_bInitialized |
If this has been correctly initiated. More... | |
CStereoGrabber_Bumblebee_libdc1394::CStereoGrabber_Bumblebee_libdc1394 | ( | uint64_t | cameraGUID, |
uint16_t | cameraUnit, | ||
double | frameRate | ||
) |
Constructor.
Parameters have the same meaning as in CImageGrabber_dc1394::CImageGrabber_dc1394()
Definition at line 20 of file CStereoGrabber_Bumblebee_libdc1394.cpp.
References mrpt::hwdrivers::FRAMERATE_120, mrpt::hwdrivers::FRAMERATE_15, mrpt::hwdrivers::FRAMERATE_1_875, mrpt::hwdrivers::FRAMERATE_240, mrpt::hwdrivers::FRAMERATE_30, mrpt::hwdrivers::FRAMERATE_3_75, mrpt::hwdrivers::FRAMERATE_60, mrpt::hwdrivers::FRAMERATE_7_5, mrpt::hwdrivers::CImageGrabber_dc1394::isOpen(), m_firewire_capture, mrpt::hwdrivers::TCaptureOptions_dc1394::mode7, MRPT_TRY_END, and MRPT_TRY_START.
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delete |
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virtual |
Destructor.
Definition at line 60 of file CStereoGrabber_Bumblebee_libdc1394.cpp.
References m_firewire_capture.
bool CStereoGrabber_Bumblebee_libdc1394::getStereoObservation | ( | mrpt::obs::CObservationStereoImages & | out_observation | ) |
Grab stereo images, and return the pair of rectified images.
out_observation | The object to be filled with sensed data. |
Definition at line 72 of file CStereoGrabber_Bumblebee_libdc1394.cpp.
References mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::isOpen(), and m_firewire_capture.
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delete |
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protected |
If this has been correctly initiated.
Definition at line 69 of file CStereoGrabber_Bumblebee_libdc1394.h.
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protected |
The actual capture object used in Linux / Mac.
Definition at line 66 of file CStereoGrabber_Bumblebee_libdc1394.h.
Referenced by CStereoGrabber_Bumblebee_libdc1394(), getStereoObservation(), and ~CStereoGrabber_Bumblebee_libdc1394().
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