class mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394

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

#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>

class CStereoGrabber_Bumblebee_libdc1394
{
public:
    // construction

    CStereoGrabber_Bumblebee_libdc1394(uint64_t cameraGUID, uint16_t cameraUnit, double frameRate);
    CStereoGrabber_Bumblebee_libdc1394(const CStereoGrabber_Bumblebee_libdc1394&);

    //
methods

    CStereoGrabber_Bumblebee_libdc1394& operator = (const CStereoGrabber_Bumblebee_libdc1394&);
    bool getStereoObservation(mrpt::obs::CObservationStereoImages& out_observation);
};

Construction

CStereoGrabber_Bumblebee_libdc1394(
    uint64_t cameraGUID,
    uint16_t cameraUnit,
    double frameRate
    )

Constructor.

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

Methods

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

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

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.

Parameters:

out_observation

The object to be filled with sensed data.

Returns:

false on any error, true if all go fine.