Main MRPT website > C++ reference for MRPT 1.9.9
CStereoGrabber_SVS.h
Go to the documentation of this file.
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 #ifndef CStereoGrabber_SVS_H
10 #define CStereoGrabber_SVS_H
11 
13 
14 namespace mrpt
15 {
16 namespace hwdrivers
17 {
18 /** Options used when creating a STOC Videre Design camera capture object
19  * \ingroup mrpt_hwdrivers_grp
20  */
22 {
24  int _frame_width = 640, int _frame_height = 480, double _framerate = 30,
25  int _NDisp = 64, int _Corrsize = 15, int _LR = false, int _Thresh = 10,
26  int _Unique = 13, int _Horopter = 0, int _SpeckleSize = 100,
27  bool _procesOnChip = true, bool _calDisparity = true);
28 
29  /** Capture resolution (Default: 640x480) */
31 
32  /** Indicates if the STOC camera must capture rectified images (Default:
33  * true -> rectified) */
35  /** STOC camera frame rate (Default: 30 fps) */
36  double framerate;
37  /** number of STOC's disparities (Default: 64 ) */
38  int m_NDisp;
39  int m_Corrsize; // correlation window size
40  int m_LR; // no left-right check, not available
41  int m_Thresh; // texture filter
42  int m_Unique; // uniqueness filter
47 };
48 
49 /** A class for grabing stereo images from a STOC camera of Videre Design
50  * NOTE:
51  * - Windows:
52  * - This class is not available.
53  *
54  * - Linux:
55  * - This class is only available when compiling MRPT with
56  *"MRPT_HAS_SVS".
57  * - You must have the videre design's library.
58  * - Capture will be made in grayscale.
59  * - The grabber must be launch in root.
60  *
61  * Once connected to a camera, you can call "getStereoObservation" to retrieve
62  *the Disparity images.
63  *
64  * \sa You'll probably want to use instead the most generic camera grabber in
65  *MRPT: mrpt::hwdrivers::CCameraSensor
66  * \ingroup mrpt_hwdrivers_grp
67  */
69 {
70  protected:
71  /** If this has been correctly initiated */
73 
74  void* m_videoObject; // svsVideoImages*
75  void* m_stereoImage; // svsStereoImage*
76  void* m_disparityParams; // svsDisparityParams*
77  void* m_processObject; // svsStereoProcess
78  unsigned int m_resolutionX;
79  unsigned int m_resolutionY;
80 
81  unsigned char* m_ptrMat;
82 
83  bool m_status;
87 
88  private:
89  public:
91 
92  /** Constructor: */
94  int cameraIndex = 0,
95  const TCaptureOptions_SVS& options = TCaptureOptions_SVS());
96 
97  CStereoGrabber_SVS(const CStereoGrabber_SVS&) = delete;
99 
100  /** Destructor */
101  virtual ~CStereoGrabber_SVS(void);
102 
103  /** Grab stereo images, and return the pair of rectified images.
104  * \param out_observation The object to be filled with sensed data.
105  *
106  * NOTICE: (1) That the member "CObservationStereoImages::refCameraPose"
107  * must be
108  * set on the return of this method, since we don't know here
109  * the robot physical structure.
110  * (2) The images are already rectified.
111  *
112  * \return false on any error, true if all go fine.
113  */
115  mrpt::obs::CObservationStereoImages& out_observation);
116 
117 }; // End of class
118 static_assert(
121  "Copy Check");
122 } // End of NS
123 } // End of NS
124 
125 #endif
A class for grabing stereo images from a STOC camera of Videre Design NOTE:
virtual ~CStereoGrabber_SVS(void)
Destructor.
int m_NDisp
number of STOC's disparities (Default: 64 )
double framerate
STOC camera frame rate (Default: 30 fps)
bool m_bInitialized
If this has been correctly initiated.
int frame_width
Capture resolution (Default: 640x480)
Observation class for either a pair of left+right or left+disparity images from a stereo camera...
CStereoGrabber_SVS(int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())
Constructor:
CStereoGrabber_SVS & operator=(const CStereoGrabber_SVS &)=delete
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Options used when creating a STOC Videre Design camera capture object.
bool getRectified
Indicates if the STOC camera must capture rectified images (Default: true -> rectified) ...
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)
GLsizei const GLfloat * value
Definition: glext.h:4117
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at lun oct 28 00:14:14 CET 2019