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mrpt::hwdrivers::CStereoGrabber_Bumblebee Class Reference

Detailed Description

A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera NOTE:

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

Definition at line 53 of file CStereoGrabber_Bumblebee.h.

#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee.h>

Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_Bumblebee:
Inheritance graph

Public Member Functions

 CStereoGrabber_Bumblebee (int cameraIndex=0, const TCaptureOptions_bumblebee &options=TCaptureOptions_bumblebee())
 Constructor: More...
 
virtual ~CStereoGrabber_Bumblebee (void)
 Destructor. More...
 
bool getStereoObservation (mrpt::obs::CObservationStereoImages &out_observation)
 Grab stereo images, and return the pair of rectified images. More...
 

Public Attributes

TCaptureOptions_bumblebee m_options
 Bumblebee camera frame rate (Default: 15 fps) More...
 

Protected Attributes

mrpt::hwdrivers::CImageGrabber_dc1394m_firewire_capture
 The actual capture object used in Linux / Mac. More...
 
bool m_bInitialized
 If this has been correctly initiated. More...
 
unsigned int m_resolutionX
 
unsigned int m_resolutionY
 The desired resolution. More...
 
float m_baseline
 Camera baseline. More...
 
float m_focalLength
 Camera focal length. More...
 
float m_centerCol
 
float m_centerRow
 Camera center coordinates. More...
 

Static Private Member Functions

static void convertFlyCaptureImagesToIplImages (void *flycapImage, void *dstL, void *dstR)
 Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input]. More...
 

Constructor & Destructor Documentation

mrpt::hwdrivers::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee ( int  cameraIndex = 0,
const TCaptureOptions_bumblebee options = TCaptureOptions_bumblebee() 
)

Constructor:

virtual mrpt::hwdrivers::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee ( void  )
virtual

Destructor.

Member Function Documentation

static void mrpt::hwdrivers::CStereoGrabber_Bumblebee::convertFlyCaptureImagesToIplImages ( void *  flycapImage,
void *  dstL,
void *  dstR 
)
staticprivate

Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input].

The FlyCapture image to split dstL [output]. The Left CImage. dstR [output]. The Right CImage.

bool mrpt::hwdrivers::CStereoGrabber_Bumblebee::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.

Member Data Documentation

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_baseline
protected

Camera baseline.

Definition at line 67 of file CStereoGrabber_Bumblebee.h.

bool mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_bInitialized
protected

If this has been correctly initiated.

Definition at line 64 of file CStereoGrabber_Bumblebee.h.

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerCol
protected

Definition at line 69 of file CStereoGrabber_Bumblebee.h.

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerRow
protected

Camera center coordinates.

Definition at line 69 of file CStereoGrabber_Bumblebee.h.

mrpt::hwdrivers::CImageGrabber_dc1394* mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_firewire_capture
protected

The actual capture object used in Linux / Mac.

Definition at line 61 of file CStereoGrabber_Bumblebee.h.

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_focalLength
protected

Camera focal length.

Definition at line 68 of file CStereoGrabber_Bumblebee.h.

TCaptureOptions_bumblebee mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_options

Bumblebee camera frame rate (Default: 15 fps)

Definition at line 98 of file CStereoGrabber_Bumblebee.h.

unsigned int mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionX
protected

Definition at line 65 of file CStereoGrabber_Bumblebee.h.

unsigned int mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionY
protected

The desired resolution.

Definition at line 65 of file CStereoGrabber_Bumblebee.h.




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