class mrpt::hwdrivers::CStereoGrabber_SVS

Overview

A class for grabbing 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

#include <mrpt/hwdrivers/CStereoGrabber_SVS.h>

class CStereoGrabber_SVS
{
public:
    // fields

    TCaptureOptions_SVS m_options;

    // construction

    CStereoGrabber_SVS(int cameraIndex = 0, const TCaptureOptions_SVS& options = TCaptureOptions_SVS());
    CStereoGrabber_SVS(const CStereoGrabber_SVS&);

    // methods

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

Construction

CStereoGrabber_SVS(int cameraIndex = 0, const TCaptureOptions_SVS& options = TCaptureOptions_SVS())

Constructor:

Methods

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

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

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.

Parameters:

out_observation

The object to be filled with sensed data.

Returns:

false on any error, true if all go fine.