CStereoGrabber_Bumblebee_libdc1394.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservationStereoImages.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

#include <mrpt/config.h>

namespace mrpt
{
namespace hwdrivers
{
/** 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.
  *
  * \sa You'll probably want to use instead the most generic camera grabber in
 * MRPT: mrpt::hwdrivers::CCameraSensor
  * \ingroup mrpt_hwdrivers_grp
  */
class CStereoGrabber_Bumblebee_libdc1394
{
   public:
        /** Constructor. Parameters have the same meaning as in
         * CImageGrabber_dc1394::CImageGrabber_dc1394() */
        CStereoGrabber_Bumblebee_libdc1394(
                uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);

        CStereoGrabber_Bumblebee_libdc1394(
                const CStereoGrabber_Bumblebee_libdc1394&) = delete;
        CStereoGrabber_Bumblebee_libdc1394& operator=(
                const CStereoGrabber_Bumblebee_libdc1394&) = delete;

        /** Destructor */
        virtual ~CStereoGrabber_Bumblebee_libdc1394(void);

        /** Grab stereo images, and return the pair of rectified images.
         * \param 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.
         *
         * \return false on any error, true if all go fine.
        */
        bool getStereoObservation(
                mrpt::obs::CObservationStereoImages& out_observation);

   protected:
        /** The actual capture object used in Linux / Mac. */
        mrpt::hwdrivers::CImageGrabber_dc1394* m_firewire_capture;

        /** If this has been correctly initiated */
        bool m_bInitialized;
};  // End of class
static_assert(
        !std::is_copy_constructible<CStereoGrabber_Bumblebee_libdc1394>::value &&
                !std::is_copy_assignable<CStereoGrabber_Bumblebee_libdc1394>::value,
        "Copy Check");
}  // End of NS
}  // End of NS