MRPT  1.9.9
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_SVSoperator= (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...
 
voidm_videoObject {nullptr}
 
voidm_stereoImage {nullptr}
 
voidm_disparityParams {nullptr}
 
voidm_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]

◆ 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_observationThe 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, m_videoObject, MRPT_UNUSED_PARAM, and mrpt::obs::CObservationStereoImages::swap().

Here is the call graph for this function:

◆ 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 CStereoGrabber_SVS(), and getStereoObservation().

◆ m_initialized

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized
protected

Definition at line 81 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

◆ m_options

TCaptureOptions_SVS mrpt::hwdrivers::CStereoGrabber_SVS::m_options

Definition at line 87 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

◆ m_procesOnChip

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip
protected

Definition at line 82 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

◆ m_processObject

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

Definition at line 74 of file CStereoGrabber_SVS.h.

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

◆ m_resolutionY

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

Definition at line 76 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS(), and getStereoObservation().

◆ m_status

bool mrpt::hwdrivers::CStereoGrabber_SVS::m_status
protected

Definition at line 80 of file CStereoGrabber_SVS.h.

Referenced by CStereoGrabber_SVS().

◆ 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



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