#include <mrpt/vision/CStereoGrabber_Bumblebee.h>
Public Member Functions | |
CStereoGrabber_Bumblebee (int cameraIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240) | |
Constructor:. | |
CStereoGrabber_Bumblebee (const CStereoGrabber_Bumblebee &) | |
CStereoGrabber_Bumblebee & | operator= (const CStereoGrabber_Bumblebee &) |
virtual | ~CStereoGrabber_Bumblebee (void) |
Destructor. | |
bool | getObservation (mrpt::slam::CObservationVisualLandmarks &out_observation) |
Grab stereo images, process them, and return the computed data. | |
bool | getObservation (TROI ROI, mrpt::slam::CObservationVisualLandmarks &out_observation) |
Grab stereo images, process them, and return the computed data. | |
bool | getImagesPairObservation (mrpt::slam::CObservationStereoImages &out_observation) |
Grab stereo images, and return the pair of rectified images. | |
bool | getBothObservation (mrpt::slam::CObservationVisualLandmarks &out_observation, mrpt::slam::CObservationStereoImages &out_observationStereo) |
This is a merge method for "getImagesPairObservation" and "getObservation", which gets both kind of observations. | |
bool | getBothObservation (TROI ROI, mrpt::slam::CObservationVisualLandmarks &out_observation, mrpt::slam::CObservationStereoImages &out_observationStereo) |
This is a merge method for "getImagesPairObservation" and "getObservation", which gets both kind of observations. | |
bool | getBothObservation (vector_float &vX, vector_float &vY, vector_float &vZ, mrpt::slam::CObservationStereoImages &out_observationStereo) |
This is a fast merge method for "getImagesPairObservation" and "getObservation", which gets both kind of observations. | |
Protected Attributes | |
bool | m_bInitialized |
If this has been correctly initiated. | |
unsigned char * | m_pRectImageLeft |
Rectified images. | |
unsigned char * | m_pRectImageRight |
unsigned short * | m_pDispImage |
Disparity image. | |
unsigned int | m_resolutionX |
unsigned int | m_resolutionY |
Definition at line 52 of file CStereoGrabber_Bumblebee.h.
mrpt::vision::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee | ( | int | cameraIndex = 0 , |
|
unsigned int | resolutionX = 320 , |
|||
unsigned int | resolutionY = 240 | |||
) |
Constructor:.
mrpt::vision::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee | ( | const CStereoGrabber_Bumblebee & | ) | [inline] |
virtual mrpt::vision::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee | ( | void | ) | [virtual] |
Destructor.
bool mrpt::vision::CStereoGrabber_Bumblebee::getBothObservation | ( | vector_float & | vX, | |
vector_float & | vY, | |||
vector_float & | vZ, | |||
mrpt::slam::CObservationStereoImages & | out_observationStereo | |||
) |
This is a fast merge method for "getImagesPairObservation" and "getObservation", which gets both kind of observations.
The ROI defines the Region of Interest for the Observation
bool mrpt::vision::CStereoGrabber_Bumblebee::getBothObservation | ( | TROI | ROI, | |
mrpt::slam::CObservationVisualLandmarks & | out_observation, | |||
mrpt::slam::CObservationStereoImages & | out_observationStereo | |||
) |
This is a merge method for "getImagesPairObservation" and "getObservation", which gets both kind of observations.
The ROI defines the Region of Interest for the Observation
bool mrpt::vision::CStereoGrabber_Bumblebee::getBothObservation | ( | mrpt::slam::CObservationVisualLandmarks & | out_observation, | |
mrpt::slam::CObservationStereoImages & | out_observationStereo | |||
) |
This is a merge method for "getImagesPairObservation" and "getObservation", which gets both kind of observations.
bool mrpt::vision::CStereoGrabber_Bumblebee::getImagesPairObservation | ( | mrpt::slam::CObservationStereoImages & | out_observation | ) |
Grab stereo images, and return the pair of rectified images.
out_observation | The object to be filled with sensed data. |
bool mrpt::vision::CStereoGrabber_Bumblebee::getObservation | ( | TROI | ROI, | |
mrpt::slam::CObservationVisualLandmarks & | out_observation | |||
) |
Grab stereo images, process them, and return the computed data.
ROI | Region of interest where the data will be computed | |
out_observation | The object to be filled with sensed data. Landmarks type is "vlColor" |
bool mrpt::vision::CStereoGrabber_Bumblebee::getObservation | ( | mrpt::slam::CObservationVisualLandmarks & | out_observation | ) |
Grab stereo images, process them, and return the computed data.
out_observation | The object to be filled with sensed data. Landmarks type is "vlColor" |
CStereoGrabber_Bumblebee& mrpt::vision::CStereoGrabber_Bumblebee::operator= | ( | const CStereoGrabber_Bumblebee & | ) | [inline] |
bool mrpt::vision::CStereoGrabber_Bumblebee::m_bInitialized [protected] |
unsigned short* mrpt::vision::CStereoGrabber_Bumblebee::m_pDispImage [protected] |
unsigned char* mrpt::vision::CStereoGrabber_Bumblebee::m_pRectImageLeft [protected] |
unsigned char * mrpt::vision::CStereoGrabber_Bumblebee::m_pRectImageRight [protected] |
Definition at line 67 of file CStereoGrabber_Bumblebee.h.
unsigned int mrpt::vision::CStereoGrabber_Bumblebee::m_resolutionX [protected] |
Definition at line 73 of file CStereoGrabber_Bumblebee.h.
unsigned int mrpt::vision::CStereoGrabber_Bumblebee::m_resolutionY [protected] |
Definition at line 73 of file CStereoGrabber_Bumblebee.h.
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