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CStereoGrabber_Bumblebee_libdc1394.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 #include <mrpt/config.h>
15 
16 namespace mrpt
17 {
18 namespace hwdrivers
19 {
20 /** Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to
21  * the libdc1394 library.
22  * Only raw, unrectified images can be captured with this class, which can be
23  * manually rectified given
24  * correct calibration parameters.
25  *
26  * See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of
27  * live capture of rectified images using
28  * the vendor (PointGreyResearch) Triclops API.
29  *
30  * Once connected to a camera, you can call `getStereoObservation()` to
31  * retrieve the stereo images.
32  *
33  * \sa You'll probably want to use instead the most generic camera grabber in
34  * MRPT: mrpt::hwdrivers::CCameraSensor
35  * \ingroup mrpt_hwdrivers_grp
36  */
38 {
39  public:
40  /** Constructor. Parameters have the same meaning as in
41  * CImageGrabber_dc1394::CImageGrabber_dc1394() */
43  uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);
44 
46  const CStereoGrabber_Bumblebee_libdc1394&) = delete;
48  const CStereoGrabber_Bumblebee_libdc1394&) = delete;
49 
50  /** Destructor */
52 
53  /** Grab stereo images, and return the pair of rectified images.
54  * \param out_observation The object to be filled with sensed data.
55  *
56  * \note The member "CObservationStereoImages::refCameraPose" must be set on
57  * the return of
58  * this method by the user, since we don't know here the robot physical
59  * structure.
60  *
61  * \return false on any error, true if all go fine.
62  */
64  mrpt::obs::CObservationStereoImages& out_observation);
65 
66  protected:
67  /** The actual capture object used in Linux / Mac. */
69 
70  /** If this has been correctly initiated */
72 }; // End of class
73 static_assert(
76  "Copy Check");
77 } // End of NS
78 } // End of NS
mrpt::hwdrivers::CImageGrabber_dc1394 * m_firewire_capture
The actual capture object used in Linux / Mac.
unsigned __int16 uint16_t
Definition: rptypes.h:44
CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double frameRate)
Constructor.
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library...
Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library...
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
Observation class for either a pair of left+right or left+disparity images from a stereo camera...
unsigned __int64 uint64_t
Definition: rptypes.h:50
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CStereoGrabber_Bumblebee_libdc1394 & operator=(const CStereoGrabber_Bumblebee_libdc1394 &)=delete
GLsizei const GLfloat * value
Definition: glext.h:4117



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