mrpt::hwdrivers::CStereoGrabber_Bumblebee Class Reference

Detailed Description

A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera NOTE:

    - Windows:
            - This class is only available when compiling MRPT with "MRPT_HAS_BUMBLEBEE".
            - You will need the "include" and "lib" directories of the vendor's proprietary software to be included in VC++ includes path.
    - Linux:
            - This class is only available when compiling MRPT with "MRPT_HAS_LIBDC1394_2".
            - Capture will be made in color, full resolution and "raw" (not rectified) only.

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 71 of file CStereoGrabber_Bumblebee.h.

#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee.h>

Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_Bumblebee:

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_dc1394 *	m_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  )

staticprivate

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_observation

The 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

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_baseline

protected

Camera baseline.

Definition at line 85 of file CStereoGrabber_Bumblebee.h.

bool mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_bInitialized

protected

If this has been correctly initiated.

Definition at line 82 of file CStereoGrabber_Bumblebee.h.

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerCol

protected

Definition at line 87 of file CStereoGrabber_Bumblebee.h.

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerRow

protected

Camera center coordinates.

Definition at line 87 of file CStereoGrabber_Bumblebee.h.

mrpt::hwdrivers::CImageGrabber_dc1394* mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_firewire_capture

protected

The actual capture object used in Linux / Mac.

Definition at line 79 of file CStereoGrabber_Bumblebee.h.

float mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_focalLength

protected

Camera focal length.

Definition at line 86 of file CStereoGrabber_Bumblebee.h.

TCaptureOptions_bumblebee mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_options

Bumblebee camera frame rate (Default: 15 fps)

Definition at line 116 of file CStereoGrabber_Bumblebee.h.

unsigned int mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionX

protected

Definition at line 83 of file CStereoGrabber_Bumblebee.h.

unsigned int mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionY

protected

The desired resolution.

Definition at line 83 of file CStereoGrabber_Bumblebee.h.