A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera NOTE:
Linux:
Once connected to a camera, you can call "getStereoObservation" to retrieve the stereo images.
Definition at line 69 of file CStereoGrabber_Bumblebee.h.
#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee.h>
Public Member Functions | |
CStereoGrabber_Bumblebee (int cameraIndex=0, const TCaptureOptions_bumblebee &options=TCaptureOptions_bumblebee()) | |
Constructor: | |
virtual | ~CStereoGrabber_Bumblebee (void) |
Destructor. | |
bool | getStereoObservation (mrpt::slam::CObservationStereoImages &out_observation) |
Grab stereo images, and return the pair of rectified images. | |
Public Attributes | |
TCaptureOptions_bumblebee | m_options |
Bumblebee camera frame rate (Default: 15 fps) | |
Protected Attributes | |
mrpt::hwdrivers::CImageGrabber_dc1394 * | m_firewire_capture |
The actual capture object used in Linux / Mac. | |
bool | m_bInitialized |
If this has been correctly initiated. | |
unsigned int | m_resolutionX |
unsigned int | m_resolutionY |
The desired resolution. | |
float | m_baseline |
Camera baseline. | |
float | m_focalLength |
Camera focal length. | |
float | m_centerCol |
float | m_centerRow |
Camera center coordinates. | |
Static Private Member Functions | |
static void | convertFlyCaptureImagesToIplImages (void *flycapImage, void *dstL, void *dstR) |
Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input]. |
mrpt::hwdrivers::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee | ( | int | cameraIndex = 0 , |
const TCaptureOptions_bumblebee & | options = TCaptureOptions_bumblebee() |
||
) |
Constructor:
virtual mrpt::hwdrivers::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee | ( | void | ) | [virtual] |
Destructor.
static void mrpt::hwdrivers::CStereoGrabber_Bumblebee::convertFlyCaptureImagesToIplImages | ( | void * | flycapImage, |
void * | dstL, | ||
void * | dstR | ||
) | [static, private] |
Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input].
The FlyCapture image to split dstL [output]. The Left CImage. dstR [output]. The Right CImage.
bool mrpt::hwdrivers::CStereoGrabber_Bumblebee::getStereoObservation | ( | mrpt::slam::CObservationStereoImages & | out_observation ) |
Grab stereo images, and return the pair of rectified images.
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.
float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_baseline [protected] |
Camera baseline.
Definition at line 83 of file CStereoGrabber_Bumblebee.h.
bool mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_bInitialized [protected] |
If this has been correctly initiated.
Definition at line 80 of file CStereoGrabber_Bumblebee.h.
float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerCol [protected] |
Definition at line 85 of file CStereoGrabber_Bumblebee.h.
float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerRow [protected] |
Camera center coordinates.
Definition at line 85 of file CStereoGrabber_Bumblebee.h.
mrpt::hwdrivers::CImageGrabber_dc1394* mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_firewire_capture [protected] |
The actual capture object used in Linux / Mac.
Definition at line 77 of file CStereoGrabber_Bumblebee.h.
float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_focalLength [protected] |
Camera focal length.
Definition at line 84 of file CStereoGrabber_Bumblebee.h.
Bumblebee camera frame rate (Default: 15 fps)
Definition at line 114 of file CStereoGrabber_Bumblebee.h.
unsigned int mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionX [protected] |
Definition at line 81 of file CStereoGrabber_Bumblebee.h.
unsigned int mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionY [protected] |
The desired resolution.
Definition at line 81 of file CStereoGrabber_Bumblebee.h.
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