#include <mrpt/vision/CStereoGrabber_Bumblebee.h>
Public Member Functions | |
CStereoGrabber_Bumblebee (int cameraIndex=0, const TCaptureOptions_bumblebee &options=TCaptureOptions_bumblebee()) | |
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 | getStereoObservation (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. | |
Public Attributes | |
TCaptureOptions_bumblebee | m_options |
Bumblebee camera frame rate (Default: 15 fps). | |
Protected Attributes | |
void * | m_triclops |
The Triclops context (TriclopsContext). | |
void * | m_flycapture |
The Flycapture context (FlyCaptureContext). | |
vector_byte | m_imgBuff |
A buffer to store an image. | |
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. | |
Private Member Functions | |
void | scaleImage (void *image, unsigned char ucMinOut, unsigned char ucMaxOut) |
void | convertTriclopsImageTo8BitsIplImage (void *src, void *dst) |
Static Private Member Functions | |
static void | convertTriclopsImagesToIplImages (void *triclopsImage, CImage &dstL, CImage &dstR) |
Splits a TriclopsImage (grayscale) into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input]. |
Definition at line 61 of file CStereoGrabber_Bumblebee.h.
mrpt::vision::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee | ( | int | cameraIndex = 0 , |
|
const TCaptureOptions_bumblebee & | options = TCaptureOptions_bumblebee() | |||
) |
Constructor:.
mrpt::vision::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee | ( | const CStereoGrabber_Bumblebee & | ) | [inline] |
virtual mrpt::vision::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee | ( | void | ) | [virtual] |
Destructor.
static void mrpt::vision::CStereoGrabber_Bumblebee::convertTriclopsImagesToIplImages | ( | void * | triclopsImage, | |
CImage & | dstL, | |||
CImage & | dstR | |||
) | [static, private] |
Splits a TriclopsImage (grayscale) into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input].
The Triclops image to split dstL [output]. The Left CImage. dstR [output]. The Right CImage.
void mrpt::vision::CStereoGrabber_Bumblebee::convertTriclopsImageTo8BitsIplImage | ( | void * | src, | |
void * | dst | |||
) | [private] |
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::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" |
bool mrpt::vision::CStereoGrabber_Bumblebee::getStereoObservation | ( | 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. |
CStereoGrabber_Bumblebee& mrpt::vision::CStereoGrabber_Bumblebee::operator= | ( | const CStereoGrabber_Bumblebee & | ) | [inline] |
void mrpt::vision::CStereoGrabber_Bumblebee::scaleImage | ( | void * | image, | |
unsigned char | ucMinOut, | |||
unsigned char | ucMaxOut | |||
) | [private] |
float mrpt::vision::CStereoGrabber_Bumblebee::m_baseline [protected] |
bool mrpt::vision::CStereoGrabber_Bumblebee::m_bInitialized [protected] |
float mrpt::vision::CStereoGrabber_Bumblebee::m_centerCol [protected] |
Definition at line 73 of file CStereoGrabber_Bumblebee.h.
float mrpt::vision::CStereoGrabber_Bumblebee::m_centerRow [protected] |
void* mrpt::vision::CStereoGrabber_Bumblebee::m_flycapture [protected] |
The Flycapture context (FlyCaptureContext).
Definition at line 65 of file CStereoGrabber_Bumblebee.h.
float mrpt::vision::CStereoGrabber_Bumblebee::m_focalLength [protected] |
Bumblebee camera frame rate (Default: 15 fps).
Definition at line 90 of file CStereoGrabber_Bumblebee.h.
unsigned int mrpt::vision::CStereoGrabber_Bumblebee::m_resolutionX [protected] |
Definition at line 69 of file CStereoGrabber_Bumblebee.h.
unsigned int mrpt::vision::CStereoGrabber_Bumblebee::m_resolutionY [protected] |
void* mrpt::vision::CStereoGrabber_Bumblebee::m_triclops [protected] |
Page generated by Doxygen 1.5.9 for MRPT 0.7.1 SVN: at Mon Aug 17 22:21:34 EDT 2009 |