CStereoGrabber_Bumblebee_libdc1394.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservationStereoImages.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

#include <mrpt/config.h>

namespace mrpt::hwdrivers
{
/** 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.
  *
  * \sa You'll probably want to use instead the most generic camera grabber in
 * MRPT: mrpt::hwdrivers::CCameraSensor
  * \ingroup mrpt_hwdrivers_grp
  */
class CStereoGrabber_Bumblebee_libdc1394
{
   public:
    /** Constructor. Parameters have the same meaning as in
     * CImageGrabber_dc1394::CImageGrabber_dc1394() */
    CStereoGrabber_Bumblebee_libdc1394(
        uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);

    CStereoGrabber_Bumblebee_libdc1394(
        const CStereoGrabber_Bumblebee_libdc1394&) = delete;
    CStereoGrabber_Bumblebee_libdc1394& operator=(
        const CStereoGrabber_Bumblebee_libdc1394&) = delete;

    /** Destructor */
    virtual ~CStereoGrabber_Bumblebee_libdc1394(void);

    /** Grab stereo images, and return the pair of rectified images.
     * \param out_observation The object to be filled with sensed data.
     *
     * \note The member "CObservationStereoImages::refCameraPose" must be set on
     * the return of
     *  this method by the user, since we don't know here the robot physical
     * structure.
     *
     * \return false on any error, true if all go fine.
    */
    bool getStereoObservation(
        mrpt::obs::CObservationStereoImages& out_observation);

   protected:
    /** The actual capture object used in Linux / Mac. */
    mrpt::hwdrivers::CImageGrabber_dc1394* m_firewire_capture;

    /** If this has been correctly initiated */
    bool m_bInitialized;
};  // End of class
static_assert(
    !std::is_copy_constructible<CStereoGrabber_Bumblebee_libdc1394>::value &&
        !std::is_copy_assignable<CStereoGrabber_Bumblebee_libdc1394>::value,
    "Copy Check");
}