mrpt::hwdrivers::TCaptureOptions_DUO3D Struct Reference

Detailed Description

Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.

Definition at line 25 of file CDUO3DCamera.h.

#include <mrpt/hwdrivers/CDUO3DCamera.h>

Public Types
enum	TYMLReadResult { yrr_NAME_NON_CONSISTENT , yrr_EMPTY , yrr_OK }

Public Member Functions
	TCaptureOptions_DUO3D ()
	~TCaptureOptions_DUO3D ()
void	loadOptionsFrom (const mrpt::utils::CConfigFileBase &configSource, const std::string &sectionName, const std::string &prefix=std::string())
	Loads all the options from a config file. More...
TYMLReadResult	m_camera_int_params_from_yml (const std::string &_file_name=std::string())
TYMLReadResult	m_camera_ext_params_from_yml (const std::string &_file_name=std::string())
TYMLReadResult	m_rectify_map_from_yml (const std::string &_file_name=std::string())

Public Attributes
Image settings
int	m_img_width
	(Default = 640) Width of the captured image. More...
int	m_img_height
	(Default = 480) Height of the captured image. More...
float	m_fps
	(Default = 30) Frames per second <= 30. More...
float	m_exposure
	(Default = 50) Exposure value. More...
float	m_led
	(Default = 25) Led intensity (some device models). More...
float	m_gain
	(Default = 10) Camera gain. More...
Behaviour selection
bool	m_capture_imu
	(Default = false) Capture IMU data. More...
bool	m_capture_rectified
	(Default = true) Rectify images. Rectification map must be provided More...
bool	m_calibration_from_file
	(Default = true) Get calibration information from files provided by DUO3D Calibration App. More...
Files specification
std::string	m_rectify_map_filename
	Rectification map file provided by DUO3D Calibration App (YML format). More...
std::string	m_intrinsic_filename
	Intrinsic parameters file provided by DUO3D Calibration App (YML format). More...
std::string	m_extrinsic_filename
	Extrinsic parameters file provided by DUO3D Calibration App (YML format). More...
Others
mrpt::utils::TStereoCamera	m_stereo_camera

Member Enumeration Documentation

TYMLReadResult

enum mrpt::hwdrivers::TCaptureOptions_DUO3D::TYMLReadResult

Enumerator
yrr_NAME_NON_CONSISTENT
yrr_EMPTY
yrr_OK

Definition at line 27 of file CDUO3DCamera.h.

Constructor & Destructor Documentation

TCaptureOptions_DUO3D()

mrpt::hwdrivers::TCaptureOptions_DUO3D::TCaptureOptions_DUO3D

(

)

~TCaptureOptions_DUO3D()

mrpt::hwdrivers::TCaptureOptions_DUO3D::~TCaptureOptions_DUO3D

(

)

Member Function Documentation

loadOptionsFrom()

void mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	sectionName,
		const std::string &	prefix = std::string()
	)

Loads all the options from a config file.

Expected format:

[sectionName]
        image_width                     = 640                   // [int]        x Resolution
        image_height                    = 480                   // [int]        y Resolution
        fps                                             = 30                    // [int]        Frames per second (<= 30)
        exposure                                = 50                    // [int]        Exposure value (1..100)
        led                                             = 0                             // [int]        Led intensity (only for some device models) (1..100).
        gain                                    = 50                    // [int]        Camera gain (1..100)
        capture_rectified               = false                 // [bool]       Rectify captured images
        capture_imu                     = true                  // [bool]       Capture IMU data from DUO3D device (if available)
        calibration_from_file   = true                  // [bool]       Use YML calibration files provided by calibration application supplied with DUO3D device
        intrinsic_filename              = ""                    // [string]     Intrinsic parameters file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
        extrinsic_filename              = ""                    // [string]     Extrinsic parameters file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
        rectify_map_filename    = ""                    // [string]     Rectification map file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.

Note

All parameter names may have an optional prefix, set with the "prefix" parameter. For example, if prefix="LEFT_", the expected variable name "camera_index" in the config section will be "LEFT_camera_index", and so on.

m_camera_ext_params_from_yml()

TYMLReadResult mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_ext_params_from_yml

(

const std::string &

_file_name = std::string()

)

m_camera_int_params_from_yml()

TYMLReadResult mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml

(

const std::string &

_file_name = std::string()

)

m_rectify_map_from_yml()

TYMLReadResult mrpt::hwdrivers::TCaptureOptions_DUO3D::m_rectify_map_from_yml

(

const std::string &

_file_name = std::string()

)

Member Data Documentation

m_calibration_from_file

bool mrpt::hwdrivers::TCaptureOptions_DUO3D::m_calibration_from_file

(Default = true) Get calibration information from files provided by DUO3D Calibration App.

Definition at line 46 of file CDUO3DCamera.h.

m_capture_imu

bool mrpt::hwdrivers::TCaptureOptions_DUO3D::m_capture_imu

(Default = false) Capture IMU data.

Definition at line 44 of file CDUO3DCamera.h.

Referenced by mrpt::hwdrivers::CDUO3DCamera::captureIMUIsSet().

m_capture_rectified

bool mrpt::hwdrivers::TCaptureOptions_DUO3D::m_capture_rectified

(Default = true) Rectify images. Rectification map must be provided

See also

m_rectify_map_filename.

Definition at line 45 of file CDUO3DCamera.h.

m_exposure

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_exposure

(Default = 50) Exposure value.

Definition at line 37 of file CDUO3DCamera.h.

m_extrinsic_filename

std::string mrpt::hwdrivers::TCaptureOptions_DUO3D::m_extrinsic_filename

Extrinsic parameters file provided by DUO3D Calibration App (YML format).

Definition at line 53 of file CDUO3DCamera.h.

m_fps

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_fps

(Default = 30) Frames per second <= 30.

Definition at line 36 of file CDUO3DCamera.h.

m_gain

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_gain

(Default = 10) Camera gain.

Definition at line 39 of file CDUO3DCamera.h.

m_img_height

int mrpt::hwdrivers::TCaptureOptions_DUO3D::m_img_height

(Default = 480) Height of the captured image.

Definition at line 35 of file CDUO3DCamera.h.

m_img_width

int mrpt::hwdrivers::TCaptureOptions_DUO3D::m_img_width

(Default = 640) Width of the captured image.

Definition at line 34 of file CDUO3DCamera.h.

m_intrinsic_filename

std::string mrpt::hwdrivers::TCaptureOptions_DUO3D::m_intrinsic_filename

Intrinsic parameters file provided by DUO3D Calibration App (YML format).

Definition at line 52 of file CDUO3DCamera.h.

m_led

float mrpt::hwdrivers::TCaptureOptions_DUO3D::m_led

(Default = 25) Led intensity (some device models).

Definition at line 38 of file CDUO3DCamera.h.

m_rectify_map_filename

std::string mrpt::hwdrivers::TCaptureOptions_DUO3D::m_rectify_map_filename

Rectification map file provided by DUO3D Calibration App (YML format).

Definition at line 51 of file CDUO3DCamera.h.

m_stereo_camera

mrpt::utils::TStereoCamera mrpt::hwdrivers::TCaptureOptions_DUO3D::m_stereo_camera

Definition at line 58 of file CDUO3DCamera.h.