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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) 2005-2016, 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
15
16#include <mrpt/config.h>
17
18namespace mrpt
19{
20 namespace hwdrivers
21 {
22 /** Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.
23 * Only raw, unrectified images can be captured with this class, which can be manually rectified given
24 * correct calibration parameters.
25 *
26 * See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of live capture of rectified images using
27 * the vendor (PointGreyResearch) Triclops API.
28 *
29 * Once connected to a camera, you can call `getStereoObservation()` to retrieve the stereo images.
30 *
31 * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
32 * \ingroup mrpt_hwdrivers_grp
33 */
35 {
36 public:
37 /** Constructor. Parameters have the same meaning as in CImageGrabber_dc1394::CImageGrabber_dc1394() */
38 CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);
39
40 /** Destructor */
42
43 /** Grab stereo images, and return the pair of rectified images.
44 * \param out_observation The object to be filled with sensed data.
45 *
46 * \note The member "CObservationStereoImages::refCameraPose" must be set on the return of
47 * this method by the user, since we don't know here the robot physical structure.
48 *
49 * \return false on any error, true if all go fine.
50 */
52
53 protected:
54 mrpt::hwdrivers::CImageGrabber_dc1394 *m_firewire_capture; //!< The actual capture object used in Linux / Mac.
55
56 bool m_bInitialized; //!< If this has been correctly initiated
57 }; // End of class
58 } // End of NS
59} // End of NS
60
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.
CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double frameRate)
Constructor.
mrpt::hwdrivers::CImageGrabber_dc1394 * m_firewire_capture
The actual capture object used in Linux / Mac.
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
virtual ~CStereoGrabber_Bumblebee_libdc1394(void)
Destructor.
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...
Definition: CUncopiable.h:31
#define HWDRIVERS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
unsigned int uint16_t
Definition: pstdint.h:170



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