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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:

Linux:

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 69 of file CStereoGrabber_Bumblebee.h.

#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee.h>

Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_Bumblebee:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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

Public Attributes

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

Protected Attributes

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

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].

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 
) [static, private]

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::slam::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

Camera baseline.

Definition at line 83 of file CStereoGrabber_Bumblebee.h.

If this has been correctly initiated.

Definition at line 80 of file CStereoGrabber_Bumblebee.h.

Definition at line 85 of file CStereoGrabber_Bumblebee.h.

Camera center coordinates.

Definition at line 85 of file CStereoGrabber_Bumblebee.h.

The actual capture object used in Linux / Mac.

Definition at line 77 of file CStereoGrabber_Bumblebee.h.

Camera focal length.

Definition at line 84 of file CStereoGrabber_Bumblebee.h.

Bumblebee camera frame rate (Default: 15 fps)

Definition at line 114 of file CStereoGrabber_Bumblebee.h.

Definition at line 81 of file CStereoGrabber_Bumblebee.h.

The desired resolution.

Definition at line 81 of file CStereoGrabber_Bumblebee.h.




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