MRPT  1.9.9
CStereoGrabber_Bumblebee_libdc1394.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 #include <mrpt/config.h>
15 
16 namespace mrpt::hwdrivers
17 {
18 /** Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to
19  * the libdc1394 library.
20  * Only raw, unrectified images can be captured with this class, which can be
21  * manually rectified given
22  * correct calibration parameters.
23  *
24  * See mrpt::hwdrivers::CStereoGrabber_Bumblebee for another class capable of
25  * live capture of rectified images using
26  * the vendor (PointGreyResearch) Triclops API.
27  *
28  * Once connected to a camera, you can call `getStereoObservation()` to
29  * retrieve the stereo images.
30  *
31  * \sa You'll probably want to use instead the most generic camera grabber in
32  * MRPT: mrpt::hwdrivers::CCameraSensor
33  * \ingroup mrpt_hwdrivers_grp
34  */
36 {
37  public:
38  /** Constructor. Parameters have the same meaning as in
39  * CImageGrabber_dc1394::CImageGrabber_dc1394() */
41  uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);
42 
44  const CStereoGrabber_Bumblebee_libdc1394&) = delete;
46  const CStereoGrabber_Bumblebee_libdc1394&) = delete;
47 
48  /** Destructor */
50 
51  /** Grab stereo images, and return the pair of rectified images.
52  * \param out_observation The object to be filled with sensed data.
53  *
54  * \note The member "CObservationStereoImages::refCameraPose" must be set on
55  * the return of
56  * this method by the user, since we don't know here the robot physical
57  * structure.
58  *
59  * \return false on any error, true if all go fine.
60  */
62  mrpt::obs::CObservationStereoImages& out_observation);
63 
64  protected:
65  /** The actual capture object used in Linux / Mac. */
67 
68  /** If this has been correctly initiated */
70 }; // End of class
71 static_assert(
72  !std::is_copy_constructible_v<CStereoGrabber_Bumblebee_libdc1394> &&
73  !std::is_copy_assignable_v<CStereoGrabber_Bumblebee_libdc1394>,
74  "Copy Check");
75 } // namespace mrpt::hwdrivers
mrpt::hwdrivers::CImageGrabber_dc1394 * m_firewire_capture
The actual capture object used in Linux / Mac.
CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double frameRate)
Constructor.
Contains classes for various device interfaces.
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library...
Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library...
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
Observation class for either a pair of left+right or left+disparity images from a stereo camera...
CStereoGrabber_Bumblebee_libdc1394 & operator=(const CStereoGrabber_Bumblebee_libdc1394 &)=delete



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