Detailed Description

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

Windows:
- This class is not available.

Linux:
- This class is only available when compiling MRPT with "MRPT_HAS_SVS".
- You must have the videre design's library.
- Capture will be made in grayscale.
- The grabber must be launch in root.

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:

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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_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.