Detailed Description

Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.

Only raw, unrectified images can be captured with this class, which can be manually rectified given correct calibration parameters.

See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of live capture of rectified images using the vendor (PointGreyResearch) Triclops API.

Once connected to a camera, you can call getStereoObservation() to retrieve the stereo images.

See also: You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor

Definition at line 35 of file CStereoGrabber_Bumblebee_libdc1394.h.

#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>

Public Member Functions
	CStereoGrabber_Bumblebee_libdc1394 (uint64_t cameraGUID, uint16_t cameraUnit, double frameRate)
	Constructor. More...

	CStereoGrabber_Bumblebee_libdc1394 (const CStereoGrabber_Bumblebee_libdc1394 &)=delete

CStereoGrabber_Bumblebee_libdc1394 &	operator= (const CStereoGrabber_Bumblebee_libdc1394 &)=delete

virtual	~CStereoGrabber_Bumblebee_libdc1394 ()
	Destructor. More...

bool	getStereoObservation (mrpt::obs::CObservationStereoImages &out_observation)
	Grab stereo images, and return the pair of rectified images. 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...

Constructor & Destructor Documentation

◆ CStereoGrabber_Bumblebee_libdc1394() [1/2]

CStereoGrabber_Bumblebee_libdc1394::CStereoGrabber_Bumblebee_libdc1394	(	uint64_t	cameraGUID,
		uint16_t	cameraUnit,
		double	frameRate
	)

Constructor.

Parameters have the same meaning as in CImageGrabber_dc1394::CImageGrabber_dc1394()

Definition at line 20 of file CStereoGrabber_Bumblebee_libdc1394.cpp.

References mrpt::hwdrivers::FRAMERATE_120, mrpt::hwdrivers::FRAMERATE_15, mrpt::hwdrivers::FRAMERATE_1_875, mrpt::hwdrivers::FRAMERATE_240, mrpt::hwdrivers::FRAMERATE_30, mrpt::hwdrivers::FRAMERATE_3_75, mrpt::hwdrivers::FRAMERATE_60, mrpt::hwdrivers::FRAMERATE_7_5, mrpt::hwdrivers::CImageGrabber_dc1394::isOpen(), m_firewire_capture, mrpt::hwdrivers::TCaptureOptions_dc1394::mode7, MRPT_TRY_END, and MRPT_TRY_START.

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◆ CStereoGrabber_Bumblebee_libdc1394() [2/2]

mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394::CStereoGrabber_Bumblebee_libdc1394 ( const CStereoGrabber_Bumblebee_libdc1394 & )

delete

◆ ~CStereoGrabber_Bumblebee_libdc1394()

CStereoGrabber_Bumblebee_libdc1394::~CStereoGrabber_Bumblebee_libdc1394 ( )

virtual

Destructor.

Definition at line 60 of file CStereoGrabber_Bumblebee_libdc1394.cpp.

References m_firewire_capture.

Member Function Documentation

◆ getStereoObservation()

bool CStereoGrabber_Bumblebee_libdc1394::getStereoObservation ( mrpt::obs::CObservationStereoImages & out_observation )

Grab stereo images, and return the pair of rectified images.

Parameters

out_observation The object to be filled with sensed data.

Note: The member "CObservationStereoImages::refCameraPose" must be set on the return of this method by the user, since we don't know here the robot physical structure.