mrpt::hwdrivers::CStereoGrabber_SVS Class Reference

Detailed Description

A class for grabing stereo images from a STOC camera of Videre Design NOTE:

• Windows:
  • This class is not available.
• Linux:
  • This class is only available when compiling MRPT with "MRPT_HAS_SVS".
  • You must have the videre design's library.
  • Capture will be made in grayscale.
  • The grabber must be launch in root.

Once connected to a camera, you can call "getStereoObservation" to retrieve the Disparity images.

See also

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

Definition at line 65 of file CStereoGrabber_SVS.h.

#include <mrpt/hwdrivers/CStereoGrabber_SVS.h>

Public Member Functions
	CStereoGrabber_SVS (int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())
	Constructor: More...
	CStereoGrabber_SVS (const CStereoGrabber_SVS &)=delete
CStereoGrabber_SVS &	operator= (const CStereoGrabber_SVS &)=delete
virtual	~CStereoGrabber_SVS ()
	Destructor. More...
bool	getStereoObservation (mrpt::obs::CObservationStereoImages &out_observation)
	Grab stereo images, and return the pair of rectified images. More...

Public Attributes
TCaptureOptions_SVS	m_options

Protected Attributes
bool	m_bInitialized {false}
	If this has been correctly initiated. More...
void *	m_videoObject {nullptr}
void *	m_stereoImage {nullptr}
void *	m_disparityParams {nullptr}
void *	m_processObject
unsigned int	m_resolutionX
unsigned int	m_resolutionY
unsigned char *	m_ptrMat
bool	m_status
bool	m_initialized
bool	m_procesOnChip
bool	m_calDisparity

Constructor & Destructor Documentation

CStereoGrabber_SVS() [1/2]

mrpt::hwdrivers::CStereoGrabber_SVS::CStereoGrabber_SVS	(	int	cameraIndex = 0,
		const TCaptureOptions_SVS &	options = TCaptureOptions_SVS()
	)

Constructor:

CStereoGrabber_SVS() [2/2]

mrpt::hwdrivers::CStereoGrabber_SVS::CStereoGrabber_SVS ( const CStereoGrabber_SVS &  )

delete

~CStereoGrabber_SVS()

CStereoGrabber_SVS::~CStereoGrabber_SVS ( )

virtual

Destructor.

Definition at line 170 of file CStereoGrabber_SVS.cpp.

References m_videoObject.

Member Function Documentation

getStereoObservation()

bool CStereoGrabber_SVS::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.

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.

Returns

false on any error, true if all go fine.

Definition at line 181 of file CStereoGrabber_SVS.cpp.

References ASSERT_, m_calDisparity, m_disparityParams, m_procesOnChip, m_processObject, m_resolutionX, m_resolutionY, m_stereoImage, and m_videoObject.

operator=()

CStereoGrabber_SVS& mrpt::hwdrivers::CStereoGrabber_SVS::operator= ( const CStereoGrabber_SVS &  )

delete

Member Data Documentation

m_bInitialized

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_bInitialized {false}

protected

If this has been correctly initiated.

Definition at line 69 of file CStereoGrabber_SVS.h.

m_calDisparity

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_calDisparity

protected

Definition at line 83 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_disparityParams

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_disparityParams {nullptr}

protected

Definition at line 73 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_initialized

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized

protected

Definition at line 81 of file CStereoGrabber_SVS.h.

m_options

TCaptureOptions_SVS mrpt::hwdrivers::CStereoGrabber_SVS::m_options

Definition at line 87 of file CStereoGrabber_SVS.h.

m_procesOnChip

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip

protected

Definition at line 82 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_processObject

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_processObject

protected

Definition at line 74 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_ptrMat

unsigned char* mrpt::hwdrivers::CStereoGrabber_SVS::m_ptrMat

protected

Definition at line 78 of file CStereoGrabber_SVS.h.

m_resolutionX

unsigned int mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionX

protected

Definition at line 75 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_resolutionY

unsigned int mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionY

protected

Definition at line 76 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_status

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_status

protected

Definition at line 80 of file CStereoGrabber_SVS.h.

m_stereoImage

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_stereoImage {nullptr}

protected

Definition at line 72 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation().

m_videoObject

void* mrpt::hwdrivers::CStereoGrabber_SVS::m_videoObject {nullptr}

protected

Definition at line 71 of file CStereoGrabber_SVS.h.

Referenced by getStereoObservation(), and ~CStereoGrabber_SVS().