Main MRPT website > C++ reference for MRPT 1.4.0
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) 2005-2016, 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#ifndef CStereoGrabber_SVS_H
10#define CStereoGrabber_SVS_H
11
15
16namespace mrpt
17{
18 namespace hwdrivers
19 {
20
21
22 /** Options used when creating a STOC Videre Design camera capture object
23 * \ingroup mrpt_hwdrivers_grp
24 */
26 {
27 TCaptureOptions_SVS(int _frame_width=640, int _frame_height=480 , double _framerate = 30, int _NDisp= 64,
28 int _Corrsize=15, int _LR = false, int _Thresh = 10, int _Unique = 13, int _Horopter = 0,int _SpeckleSize = 100,bool _procesOnChip = true,bool _calDisparity = true);
29
30 int frame_width, frame_height; //!< Capture resolution (Default: 640x480)
31
32 bool getRectified; //!< Indicates if the STOC camera must capture rectified images (Default: true -> rectified)
33 double framerate; //!< STOC camera frame rate (Default: 30 fps)
34 int m_NDisp; //!< number of STOC's disparities (Default: 64 )
35 int m_Corrsize; // correlation window size
36 int m_LR; // no left-right check, not available
37 int m_Thresh; // texture filter
38 int m_Unique; // uniqueness filter
43
44 };
45
46 /** A class for grabing stereo images from a STOC camera of Videre Design
47 * NOTE:
48 * - Windows:
49 * - This class is not available.
50 *
51 * - Linux:
52 * - This class is only available when compiling MRPT with "MRPT_HAS_SVS".
53 * - You must have the videre design's library.
54 * - Capture will be made in grayscale.
55 * - The grabber must be launch in root.
56 *
57 * Once connected to a camera, you can call "getStereoObservation" to retrieve the Disparity images.
58 *
59 * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
60 * \ingroup mrpt_hwdrivers_grp
61 */
63 {
64 protected:
65 bool m_bInitialized; //!< If this has been correctly initiated
66
67 void *m_videoObject; // svsVideoImages*
68 void *m_stereoImage; // svsStereoImage*
69 void *m_disparityParams; // svsDisparityParams*
70 void *m_processObject; // svsStereoProcess
71 unsigned int m_resolutionX;
72 unsigned int m_resolutionY;
73
74 unsigned char *m_ptrMat;
75
80
81
82 private:
83
84 public:
85
87
88 /** Constructor: */
89 CStereoGrabber_SVS( int cameraIndex = 0, const TCaptureOptions_SVS &options = TCaptureOptions_SVS() );
90
91 /** Destructor */
92 virtual ~CStereoGrabber_SVS(void);
93
94 /** Grab stereo images, and return the pair of rectified images.
95 * \param out_observation The object to be filled with sensed data.
96 *
97 * NOTICE: (1) That the member "CObservationStereoImages::refCameraPose" must be
98 * set on the return of this method, since we don't know here the robot physical structure.
99 * (2) The images are already rectified.
100 *
101 * \return false on any error, true if all go fine.
102 */
104
105 }; // End of class
106
107 } // End of NS
108} // End of NS
109
110
111#endif
A class for grabing stereo images from a STOC camera of Videre Design NOTE:
CStereoGrabber_SVS(int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())
Constructor:
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
virtual ~CStereoGrabber_SVS(void)
Destructor.
bool m_bInitialized
If this has been correctly initiated.
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.
Options used when creating a STOC Videre Design camera capture object.
int frame_height
Capture resolution (Default: 640x480)
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)
double framerate
STOC camera frame rate (Default: 30 fps)
int m_NDisp
number of STOC's disparities (Default: 64 )



Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Sat Jan 21 06:46:15 UTC 2023