Detailed Description

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

Definition at line 20 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::config::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 {640}
	(Default = 640) Width of the captured image. More...

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

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

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

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

float	m_gain {0}
	(Default = 10) Camera gain. More...

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

bool	m_capture_rectified {false}
	(Default = true) Rectify images. More...

bool	m_calibration_from_file {true}
	(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::img::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 22 of file CDUO3DCamera.h.

Constructor & Destructor Documentation

◆ TCaptureOptions_DUO3D()

TCaptureOptions_DUO3D::TCaptureOptions_DUO3D ( )

Definition at line 55 of file CDUO3DCamera.cpp.

References duo_params.

◆ ~TCaptureOptions_DUO3D()

TCaptureOptions_DUO3D::~TCaptureOptions_DUO3D ( )

Definition at line 64 of file CDUO3DCamera.cpp.

References duo_params.

Member Function Documentation

◆ loadOptionsFrom()

void TCaptureOptions_DUO3D::loadOptionsFrom	(	const mrpt::config::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 243 of file CDUO3DCamera.cpp.

References mrpt::img::TStereoCamera::leftCamera, mrpt::img::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::img::TCamera::ncols, mrpt::img::TCamera::nrows, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and mrpt::img::TStereoCamera::rightCamera.

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◆ m_camera_ext_params_from_yml()

TCaptureOptions_DUO3D::TYMLReadResult TCaptureOptions_DUO3D::m_camera_ext_params_from_yml ( const std::string & _file_name = std::string() )

Definition at line 107 of file CDUO3DCamera.cpp.

References mrpt::poses::CPose3DQuat::asTPose(), mrpt::containers::empty(), mrpt::system::extractFileName(), mrpt::format(), m_extrinsic_filename, m_img_height, m_img_width, m_stereo_camera, mrpt::img::TStereoCamera::rightCameraPose, THROW_EXCEPTION, yrr_EMPTY, yrr_NAME_NON_CONSISTENT, and yrr_OK.

Referenced by mrpt::hwdrivers::CDUO3DCamera::open().

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◆ m_camera_int_params_from_yml()

TCaptureOptions_DUO3D::TYMLReadResult TCaptureOptions_DUO3D::m_camera_int_params_from_yml ( const std::string & _file_name = std::string() )

Definition at line 169 of file CDUO3DCamera.cpp.

References mrpt::img::TCamera::dist, mrpt::containers::empty(), mrpt::system::extractFileName(), mrpt::format(), mrpt::img::TCamera::intrinsicParams, mrpt::img::TStereoCamera::leftCamera, m_img_height, m_img_width, m_intrinsic_filename, m_stereo_camera, mrpt::img::TStereoCamera::rightCamera, mrpt::img::TCamera::setDistortionParamsFromValues(), mrpt::img::TCamera::setIntrinsicParamsFromValues(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), THROW_EXCEPTION, yrr_EMPTY, yrr_NAME_NON_CONSISTENT, and yrr_OK.

Referenced by mrpt::hwdrivers::CDUO3DCamera::open().

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◆ m_rectify_map_from_yml()

TCaptureOptions_DUO3D::TYMLReadResult TCaptureOptions_DUO3D::m_rectify_map_from_yml ( const std::string & _file_name = std::string() )

Definition at line 70 of file CDUO3DCamera.cpp.

References duo_params, mrpt::system::extractFileName(), mrpt::format(), m_img_height, m_img_width, m_rectify_map_filename, TDUOParams::m_rectify_map_left_x, TDUOParams::m_rectify_map_left_y, TDUOParams::m_rectify_map_right_x, TDUOParams::m_rectify_map_right_y, THROW_EXCEPTION, yrr_EMPTY, yrr_NAME_NON_CONSISTENT, and yrr_OK.

Referenced by mrpt::hwdrivers::CDUO3DCamera::open().

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Member Data Documentation

◆ m_calibration_from_file

bool mrpt::hwdrivers::TCaptureOptions_DUO3D::m_calibration_from_file {true}

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

Definition at line 57 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_capture_imu

bool mrpt::hwdrivers::TCaptureOptions_DUO3D::m_capture_imu {false}

(Default = false) Capture IMU data.

Definition at line 51 of file CDUO3DCamera.h.

Referenced by mrpt::hwdrivers::CDUO3DCamera::captureIMUIsSet(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), and loadOptionsFrom().

◆ m_capture_rectified

bool mrpt::hwdrivers::TCaptureOptions_DUO3D::m_capture_rectified {false}

(Default = true) Rectify images.

Rectification map must be provided

See also: m_rectify_map_filename.

Definition at line 54 of file CDUO3DCamera.h.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), loadOptionsFrom(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_exposure

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_exposure {50}

(Default = 50) Exposure value.

Definition at line 41 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_extrinsic_filename

std::string mrpt::hwdrivers::TCaptureOptions_DUO3D::m_extrinsic_filename

Extrinsic parameters file provided by DUO3D Calibration App (YML format).

Definition at line 70 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), and m_camera_ext_params_from_yml().

◆ m_fps

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_fps {30}

(Default = 30) Frames per second <= 30.

Definition at line 39 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom().

◆ m_gain

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_gain {0}

(Default = 10) Camera gain.

Definition at line 45 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_img_height

int mrpt::hwdrivers::TCaptureOptions_DUO3D::m_img_height {480}

(Default = 480) Height of the captured image.

Definition at line 37 of file CDUO3DCamera.h.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), loadOptionsFrom(), m_camera_ext_params_from_yml(), m_camera_int_params_from_yml(), m_rectify_map_from_yml(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_img_width

int mrpt::hwdrivers::TCaptureOptions_DUO3D::m_img_width {640}

(Default = 640) Width of the captured image.

Definition at line 35 of file CDUO3DCamera.h.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), loadOptionsFrom(), m_camera_ext_params_from_yml(), m_camera_int_params_from_yml(), m_rectify_map_from_yml(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_intrinsic_filename

std::string mrpt::hwdrivers::TCaptureOptions_DUO3D::m_intrinsic_filename

Intrinsic parameters file provided by DUO3D Calibration App (YML format).

Definition at line 67 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), and m_camera_int_params_from_yml().

◆ m_led

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_led {25}

(Default = 25) Led intensity (some device models).

Definition at line 43 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_rectify_map_filename

std::string mrpt::hwdrivers::TCaptureOptions_DUO3D::m_rectify_map_filename

Rectification map file provided by DUO3D Calibration App (YML format).

Definition at line 64 of file CDUO3DCamera.h.

Referenced by loadOptionsFrom(), m_rectify_map_from_yml(), and mrpt::hwdrivers::CDUO3DCamera::open().

◆ m_stereo_camera

mrpt::img::TStereoCamera mrpt::hwdrivers::TCaptureOptions_DUO3D::m_stereo_camera

Definition at line 75 of file CDUO3DCamera.h.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), loadOptionsFrom(), m_camera_ext_params_from_yml(), m_camera_int_params_from_yml(), and mrpt::hwdrivers::CDUO3DCamera::open().

Detailed Description

Public Types

Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ TYMLReadResult

Constructor & Destructor Documentation

◆ TCaptureOptions_DUO3D()

◆ ~TCaptureOptions_DUO3D()

Member Function Documentation

◆ loadOptionsFrom()

◆ m_camera_ext_params_from_yml()

◆ m_camera_int_params_from_yml()

◆ m_rectify_map_from_yml()

Member Data Documentation

◆ 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