mrpt::vision::CStereoGrabber_Bumblebee Class Reference

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

• This class is only available when compiling MRPT with "#define MRPT_HAS_BUMBLEBEE 1" in the "config.h".

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#include <mrpt/vision/CStereoGrabber_Bumblebee.h>

List of all members.

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].

---

Detailed Description

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

• This class is only available when compiling MRPT with "#define MRPT_HAS_BUMBLEBEE 1" in the "config.h".

• You will need the "include" and "lib" directories of the vendor's proprietary software to be included in VC++ includes path.

See also:

The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor

Definition at line 61 of file CStereoGrabber_Bumblebee.h.

---

Constructor & Destructor Documentation

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]

Definition at line 97 of file CStereoGrabber_Bumblebee.h.

References THROW_EXCEPTION.

virtual mrpt::vision::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee

(

void

)

[virtual]

Destructor.

---

Member Function Documentation

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.

Parameters:

	ROI	Region of interest where the data will be computed
	out_observation	The object to be filled with sensed data. Landmarks type is "vlColor"

NOTICE: That the member "CObservationVisualLandmarks::refCameraPose" must be set on the return of this method, since we don't know here the robot physical structure.

Returns:

false on any error, true if all go fine.

bool mrpt::vision::CStereoGrabber_Bumblebee::getObservation

(

mrpt::slam::CObservationVisualLandmarks &

out_observation

)

Grab stereo images, process them, and return the computed data.

Parameters:

out_observation

The object to be filled with sensed data. Landmarks type is "vlColor"

NOTICE: That the member "CObservationVisualLandmarks::refCameraPose" must be set on the return of this method, since we don't know here the robot physical structure.

Returns:

false on any error, true if all go fine.

bool mrpt::vision::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.

CStereoGrabber_Bumblebee& mrpt::vision::CStereoGrabber_Bumblebee::operator=

(

const CStereoGrabber_Bumblebee &

)

[inline]

Definition at line 106 of file CStereoGrabber_Bumblebee.h.

References THROW_EXCEPTION.

void mrpt::vision::CStereoGrabber_Bumblebee::scaleImage	(	void *	image,
		unsigned char	ucMinOut,
		unsigned char	ucMaxOut
	)			[private]

---

Member Data Documentation

float mrpt::vision::CStereoGrabber_Bumblebee::m_baseline [protected]

Camera baseline.

Definition at line 71 of file CStereoGrabber_Bumblebee.h.

bool mrpt::vision::CStereoGrabber_Bumblebee::m_bInitialized [protected]

If this has been correctly initiated.

Definition at line 68 of file CStereoGrabber_Bumblebee.h.

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]

Camera center coordinates.

Definition at line 73 of file CStereoGrabber_Bumblebee.h.

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]

Camera focal length.

Definition at line 72 of file CStereoGrabber_Bumblebee.h.

vector_byte mrpt::vision::CStereoGrabber_Bumblebee::m_imgBuff [protected]

A buffer to store an image.

Definition at line 66 of file CStereoGrabber_Bumblebee.h.

TCaptureOptions_bumblebee mrpt::vision::CStereoGrabber_Bumblebee::m_options

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]

The desired resolution.

Definition at line 69 of file CStereoGrabber_Bumblebee.h.

void* mrpt::vision::CStereoGrabber_Bumblebee::m_triclops [protected]

The Triclops context (TriclopsContext).

Definition at line 64 of file CStereoGrabber_Bumblebee.h.