A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera NOTE:
Once connected to a camera, you can call "getStereoObservation" to retrieve the stereo images.
Definition at line 53 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: More... | |
virtual | ~CStereoGrabber_Bumblebee (void) |
Destructor. More... | |
bool | getStereoObservation (mrpt::obs::CObservationStereoImages &out_observation) |
Grab stereo images, and return the pair of rectified images. More... | |
Public Attributes | |
TCaptureOptions_bumblebee | m_options |
Bumblebee camera frame rate (Default: 15 fps) More... | |
Protected Attributes | |
mrpt::hwdrivers::CImageGrabber_dc1394 * | m_firewire_capture |
The actual capture object used in Linux / Mac. More... | |
bool | m_bInitialized |
If this has been correctly initiated. More... | |
unsigned int | m_resolutionX |
unsigned int | m_resolutionY |
The desired resolution. More... | |
float | m_baseline |
Camera baseline. More... | |
float | m_focalLength |
Camera focal length. More... | |
float | m_centerCol |
float | m_centerRow |
Camera center coordinates. More... | |
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]. More... | |
mrpt::hwdrivers::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee | ( | int | cameraIndex = 0 , |
const TCaptureOptions_bumblebee & | options = TCaptureOptions_bumblebee() |
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Constructor:
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Destructor.
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staticprivate |
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::obs::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.
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Camera baseline.
Definition at line 67 of file CStereoGrabber_Bumblebee.h.
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If this has been correctly initiated.
Definition at line 64 of file CStereoGrabber_Bumblebee.h.
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Definition at line 69 of file CStereoGrabber_Bumblebee.h.
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Camera center coordinates.
Definition at line 69 of file CStereoGrabber_Bumblebee.h.
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The actual capture object used in Linux / Mac.
Definition at line 61 of file CStereoGrabber_Bumblebee.h.
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Camera focal length.
Definition at line 68 of file CStereoGrabber_Bumblebee.h.
TCaptureOptions_bumblebee mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_options |
Bumblebee camera frame rate (Default: 15 fps)
Definition at line 98 of file CStereoGrabber_Bumblebee.h.
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Definition at line 65 of file CStereoGrabber_Bumblebee.h.
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The desired resolution.
Definition at line 65 of file CStereoGrabber_Bumblebee.h.
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