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Public Member Functions | Public Attributes | Protected Attributes

mrpt::hwdrivers::CStereoGrabber_SVS Class Reference


Detailed Description

A class for grabing stereo images from a STOC camera of Videre Design NOTE:

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

Definition at line 79 of file CStereoGrabber_SVS.h.

#include <mrpt/hwdrivers/CStereoGrabber_SVS.h>

Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_SVS:
Inheritance graph
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List of all members.

Public Member Functions

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

Public Attributes

TCaptureOptions_SVS m_options

Protected Attributes

bool m_bInitialized
 If this has been correctly initiated.
void * m_videoObject
void * m_stereoImage
void * m_disparityParams
void * m_processObject
unsigned int m_resolutionX
unsigned int m_resolutionY
unsigned char * m_ptrMat
bool m_status
bool m_initialized
bool m_procesOnChip
bool m_calDisparity

Constructor & Destructor Documentation

mrpt::hwdrivers::CStereoGrabber_SVS::CStereoGrabber_SVS ( int  cameraIndex = 0,
const TCaptureOptions_SVS options = TCaptureOptions_SVS() 
)

Constructor:

virtual mrpt::hwdrivers::CStereoGrabber_SVS::~CStereoGrabber_SVS ( void  ) [virtual]

Destructor.


Member Function Documentation

bool mrpt::hwdrivers::CStereoGrabber_SVS::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

If this has been correctly initiated.

Definition at line 82 of file CStereoGrabber_SVS.h.

Definition at line 96 of file CStereoGrabber_SVS.h.

Definition at line 86 of file CStereoGrabber_SVS.h.

Definition at line 94 of file CStereoGrabber_SVS.h.

Definition at line 103 of file CStereoGrabber_SVS.h.

Definition at line 95 of file CStereoGrabber_SVS.h.

Definition at line 87 of file CStereoGrabber_SVS.h.

Definition at line 91 of file CStereoGrabber_SVS.h.

Definition at line 88 of file CStereoGrabber_SVS.h.

Definition at line 89 of file CStereoGrabber_SVS.h.

Definition at line 93 of file CStereoGrabber_SVS.h.

Definition at line 85 of file CStereoGrabber_SVS.h.

Definition at line 84 of file CStereoGrabber_SVS.h.




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