CStereoGrabber_SVS.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CStereoGrabber_SVS_H
#define CStereoGrabber_SVS_H

#include <mrpt/obs/CObservationStereoImages.h>

namespace mrpt
{
namespace 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;

        void* m_videoObject;  // svsVideoImages*
        void* m_stereoImage;  // svsStereoImage*
        void* m_disparityParams;  // 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(void);

        /** 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<CStereoGrabber_SVS>::value &&
                !std::is_copy_assignable<CStereoGrabber_SVS>::value,
        "Copy Check");
}  // End of NS
}  // End of NS

#endif