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CStereoGrabber_SVS.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CStereoGrabber_SVS_H
10 #define CStereoGrabber_SVS_H
11 
13 
14 namespace mrpt
15 {
16 namespace hwdrivers
17 {
18 /** Options used when creating a STOC Videre Design camera capture object
19  * \ingroup mrpt_hwdrivers_grp
20  */
22 {
24  int _frame_width = 640, int _frame_height = 480, double _framerate = 30,
25  int _NDisp = 64, int _Corrsize = 15, int _LR = false, int _Thresh = 10,
26  int _Unique = 13, int _Horopter = 0, int _SpeckleSize = 100,
27  bool _procesOnChip = true, bool _calDisparity = true);
28 
29  /** Capture resolution (Default: 640x480) */
31 
32  /** Indicates if the STOC camera must capture rectified images (Default:
33  * true -> rectified) */
35  /** STOC camera frame rate (Default: 30 fps) */
36  double framerate;
37  /** number of STOC's disparities (Default: 64 ) */
38  int m_NDisp;
39  int m_Corrsize; // correlation window size
40  int m_LR; // no left-right check, not available
41  int m_Thresh; // texture filter
42  int m_Unique; // uniqueness filter
47 };
48 
49 /** A class for grabing stereo images from a STOC camera of Videre Design
50  * NOTE:
51  * - Windows:
52  * - This class is not available.
53  *
54  * - Linux:
55  * - This class is only available when compiling MRPT with
56  *"MRPT_HAS_SVS".
57  * - You must have the videre design's library.
58  * - Capture will be made in grayscale.
59  * - The grabber must be launch in root.
60  *
61  * Once connected to a camera, you can call "getStereoObservation" to retrieve
62  *the Disparity images.
63  *
64  * \sa You'll probably want to use instead the most generic camera grabber in
65  *MRPT: mrpt::hwdrivers::CCameraSensor
66  * \ingroup mrpt_hwdrivers_grp
67  */
69 {
70  protected:
71  /** If this has been correctly initiated */
73 
74  void* m_videoObject; // svsVideoImages*
75  void* m_stereoImage; // svsStereoImage*
76  void* m_disparityParams; // svsDisparityParams*
77  void* m_processObject; // svsStereoProcess
78  unsigned int m_resolutionX;
79  unsigned int m_resolutionY;
80 
81  unsigned char* m_ptrMat;
82 
83  bool m_status;
87 
88  private:
89  public:
91 
92  /** Constructor: */
94  int cameraIndex = 0,
95  const TCaptureOptions_SVS& options = TCaptureOptions_SVS());
96 
97  CStereoGrabber_SVS(const CStereoGrabber_SVS&) = delete;
99 
100  /** Destructor */
101  virtual ~CStereoGrabber_SVS(void);
102 
103  /** Grab stereo images, and return the pair of rectified images.
104  * \param out_observation The object to be filled with sensed data.
105  *
106  * NOTICE: (1) That the member "CObservationStereoImages::refCameraPose"
107  * must be
108  * set on the return of this method, since we don't know here
109  * the robot physical structure.
110  * (2) The images are already rectified.
111  *
112  * \return false on any error, true if all go fine.
113  */
115  mrpt::obs::CObservationStereoImages& out_observation);
116 
117 }; // End of class
118 static_assert(
121  "Copy Check");
122 } // End of NS
123 } // End of NS
124 
125 #endif
mrpt::hwdrivers::CStereoGrabber_SVS::m_calDisparity
bool m_calDisparity
Definition: CStereoGrabber_SVS.h:86
mrpt::hwdrivers::CStereoGrabber_SVS::CStereoGrabber_SVS
CStereoGrabber_SVS(int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())
Constructor:
Definition: CStereoGrabber_SVS.cpp:30
mrpt::hwdrivers::CStereoGrabber_SVS::operator=
CStereoGrabber_SVS & operator=(const CStereoGrabber_SVS &)=delete
mrpt::hwdrivers::CStereoGrabber_SVS::m_options
TCaptureOptions_SVS m_options
Definition: CStereoGrabber_SVS.h:90
mrpt::hwdrivers::TCaptureOptions_SVS
Options used when creating a STOC Videre Design camera capture object.
Definition: CStereoGrabber_SVS.h:21
mrpt::hwdrivers::TCaptureOptions_SVS::m_Unique
int m_Unique
Definition: CStereoGrabber_SVS.h:42
mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionY
unsigned int m_resolutionY
Definition: CStereoGrabber_SVS.h:79
mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip
bool m_procesOnChip
Definition: CStereoGrabber_SVS.h:85
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CKalmanFilterCapable.h:30
mrpt::hwdrivers::CStereoGrabber_SVS::m_status
bool m_status
Definition: CStereoGrabber_SVS.h:83
mrpt::hwdrivers::TCaptureOptions_SVS::framerate
double framerate
STOC camera frame rate (Default: 30 fps)
Definition: CStereoGrabber_SVS.h:36
CObservationStereoImages.h
mrpt::hwdrivers::CStereoGrabber_SVS::getStereoObservation
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
Definition: CStereoGrabber_SVS.cpp:185
mrpt::hwdrivers::TCaptureOptions_SVS::m_SpeckleSize
int m_SpeckleSize
Definition: CStereoGrabber_SVS.h:44
mrpt::hwdrivers::TCaptureOptions_SVS::frame_width
int frame_width
Capture resolution (Default: 640x480)
Definition: CStereoGrabber_SVS.h:30
mrpt::hwdrivers::CStereoGrabber_SVS
A class for grabing stereo images from a STOC camera of Videre Design NOTE:
Definition: CStereoGrabber_SVS.h:68
mrpt::hwdrivers::TCaptureOptions_SVS::m_Corrsize
int m_Corrsize
Definition: CStereoGrabber_SVS.h:39
mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionX
unsigned int m_resolutionX
Definition: CStereoGrabber_SVS.h:78
mrpt::hwdrivers::CStereoGrabber_SVS::m_ptrMat
unsigned char * m_ptrMat
Definition: CStereoGrabber_SVS.h:81
mrpt::hwdrivers::CStereoGrabber_SVS::m_disparityParams
void * m_disparityParams
Definition: CStereoGrabber_SVS.h:76
mrpt::hwdrivers::CStereoGrabber_SVS::~CStereoGrabber_SVS
virtual ~CStereoGrabber_SVS(void)
Destructor.
Definition: CStereoGrabber_SVS.cpp:174
mrpt::hwdrivers::TCaptureOptions_SVS::m_Horopter
int m_Horopter
Definition: CStereoGrabber_SVS.h:43
mrpt::hwdrivers::TCaptureOptions_SVS::getRectified
bool getRectified
Indicates if the STOC camera must capture rectified images (Default: true -> rectified)
Definition: CStereoGrabber_SVS.h:34
mrpt::hwdrivers::TCaptureOptions_SVS::m_Thresh
int m_Thresh
Definition: CStereoGrabber_SVS.h:41
mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized
bool m_initialized
Definition: CStereoGrabber_SVS.h:84
mrpt::hwdrivers::CStereoGrabber_SVS::m_videoObject
void * m_videoObject
Definition: CStereoGrabber_SVS.h:74
mrpt::hwdrivers::TCaptureOptions_SVS::m_procesOnChip
bool m_procesOnChip
Definition: CStereoGrabber_SVS.h:45
mrpt::hwdrivers::CStereoGrabber_SVS::m_stereoImage
void * m_stereoImage
Definition: CStereoGrabber_SVS.h:75
mrpt::hwdrivers::CStereoGrabber_SVS::m_bInitialized
bool m_bInitialized
If this has been correctly initiated.
Definition: CStereoGrabber_SVS.h:72
value
GLsizei const GLfloat * value
Definition: glext.h:4117
mrpt::hwdrivers::TCaptureOptions_SVS::frame_height
int frame_height
Definition: CStereoGrabber_SVS.h:30
mrpt::hwdrivers::TCaptureOptions_SVS::TCaptureOptions_SVS
TCaptureOptions_SVS(int _frame_width=640, int _frame_height=480, double _framerate=30, int _NDisp=64, int _Corrsize=15, int _LR=false, int _Thresh=10, int _Unique=13, int _Horopter=0, int _SpeckleSize=100, bool _procesOnChip=true, bool _calDisparity=true)
Definition: CStereoGrabber_SVS.cpp:325
mrpt::hwdrivers::TCaptureOptions_SVS::m_calDisparity
bool m_calDisparity
Definition: CStereoGrabber_SVS.h:46
mrpt::hwdrivers::TCaptureOptions_SVS::m_LR
int m_LR
Definition: CStereoGrabber_SVS.h:40
mrpt::hwdrivers::TCaptureOptions_SVS::m_NDisp
int m_NDisp
number of STOC's disparities (Default: 64 )
Definition: CStereoGrabber_SVS.h:38
mrpt::hwdrivers::CStereoGrabber_SVS::m_processObject
void * m_processObject
Definition: CStereoGrabber_SVS.h:77
mrpt::obs::CObservationStereoImages
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
Definition: CObservationStereoImages.h:41



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