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CStereoGrabber_Bumblebee.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
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4  | http://www.mrpt.org/ |
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6  | Copyright (C) 2005-2012 University of Malaga |
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8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CStereoGrabber_Bumblebee_H
29 #define CStereoGrabber_Bumblebee_H
30 
31 #include <mrpt/slam/CObservationStereoImages.h>
32 #include <mrpt/hwdrivers/link_pragmas.h>
33 
34 #ifndef MRPT_OS_WINDOWS
35  #include <mrpt/hwdrivers/CImageGrabber_dc1394.h>
36 #endif
37 
38 #include <mrpt/config.h>
39 
40 namespace mrpt
41 {
42  namespace hwdrivers
43  {
44  /** Options used when creating a bumblebee camera capture object
45  * \ingroup mrpt_hwdrivers_grp
46  */
47  struct HWDRIVERS_IMPEXP TCaptureOptions_bumblebee
48  {
49  TCaptureOptions_bumblebee();
50 
51  int frame_width, frame_height; //!< Capture resolution (Default: 640x480)
52  bool color; //!< Indicates if the Bumblebee camera must capture color images (Default: false -> grayscale)
53  bool getRectified; //!< Indicates if the Bumblebee camera must capture rectified images (Default: true -> rectified)
54  double framerate; //!< Bumblebee camera frame rate (Default: 15 fps)
55  };
56 
57  /** A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera
58  * NOTE:
59  * - Windows:
60  * - This class is only available when compiling MRPT with "MRPT_HAS_BUMBLEBEE".
61  * - You will need the "include" and "lib" directories of the vendor's proprietary software to be included in VC++ includes path.
62  * - Linux:
63  * - This class is only available when compiling MRPT with "MRPT_HAS_LIBDC1394_2".
64  * - Capture will be made in color, full resolution and "raw" (not rectified) only.
65  *
66  * Once connected to a camera, you can call "getStereoObservation" to retrieve the stereo images.
67  *
68  * \sa You'll probably want to use instead the most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
69  * \ingroup mrpt_hwdrivers_grp
70  */
71  class HWDRIVERS_IMPEXP CStereoGrabber_Bumblebee : public mrpt::utils::CUncopiable
72  {
73  protected:
74 #ifdef MRPT_OS_WINDOWS
75  void *m_triclops; //!< The Triclops context (TriclopsContext)
76  void *m_flycapture; //!< The Flycapture context (FlyCaptureContext).
77  vector_byte m_imgBuff; //!< A buffer to store an image
78 #else
79  mrpt::hwdrivers::CImageGrabber_dc1394 *m_firewire_capture; //!< The actual capture object used in Linux / Mac.
80 #endif
81 
82  bool m_bInitialized; //!< If this has been correctly initiated
83  unsigned int m_resolutionX, m_resolutionY; //!< The desired resolution
84 
85  float m_baseline; //!< Camera baseline
86  float m_focalLength; //!< Camera focal length
87  float m_centerCol, m_centerRow; //!< Camera center coordinates
88 
89 
90  private:
91 
92 #ifdef MRPT_OS_WINDOWS
93  void scaleImage( void* image, unsigned char ucMinOut, unsigned char ucMaxOut );
94  void convertTriclopsImageTo8BitsIplImage( void *src, void* dst );
95 
96  /** Splits a TriclopsImage (grayscale) into two separate IplImages (from the left and right cameras) (for internal use only)
97  * triclopsImage [input]. The Triclops image to split
98  * dstL [output]. The Left CImage.
99  * dstR [output]. The Right CImage.
100  */
101  static void convertTriclopsImagesToIplImages(
102  void* triclopsImage,
103  void* dstL,
104  void* dstR );
105 
106 #endif
107  /** Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only)
108  * triclopsImage [input]. The FlyCapture image to split
109  * dstL [output]. The Left CImage.
110  * dstR [output]. The Right CImage.
111  */
112  static void convertFlyCaptureImagesToIplImages( void* flycapImage, void* dstL, void* dstR );
113 
114  public:
115 
116  TCaptureOptions_bumblebee m_options; //!< Bumblebee camera frame rate (Default: 15 fps)
117 
118  /** Constructor: */
119  CStereoGrabber_Bumblebee( int cameraIndex = 0, const TCaptureOptions_bumblebee &options = TCaptureOptions_bumblebee() );
120 
121  /** Destructor */
122  virtual ~CStereoGrabber_Bumblebee(void);
123 
124  /** Grab stereo images, and return the pair of rectified images.
125  * \param out_observation The object to be filled with sensed data.
126  *
127  * NOTICE: (1) That the member "CObservationStereoImages::refCameraPose" must be
128  * set on the return of this method, since we don't know here the robot physical structure.
129  * (2) The images are already rectified.
130  *
131  * \return false on any error, true if all go fine.
132  */
133  bool getStereoObservation( mrpt::slam::CObservationStereoImages &out_observation );
134 
135 
136  }; // End of class
137 
138  } // End of NS
139 } // End of NS
140 
141 
142 #endif


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