MRPT logo

mrpt::vision::CStereoGrabber_Bumblebee Class Reference

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

#include <mrpt/vision/CStereoGrabber_Bumblebee.h>

List of all members.

Public Member Functions

 CStereoGrabber_Bumblebee (int cameraIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240)
 Constructor:.
 CStereoGrabber_Bumblebee (const CStereoGrabber_Bumblebee &)
CStereoGrabber_Bumblebeeoperator= (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 getImagesPairObservation (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.

Protected Attributes

bool m_bInitialized
 If this has been correctly initiated.
unsigned char * m_pRectImageLeft
 Rectified images.
unsigned char * m_pRectImageRight
unsigned short * m_pDispImage
 Disparity image.
unsigned int m_resolutionX
unsigned int m_resolutionY


Detailed Description

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

Definition at line 52 of file CStereoGrabber_Bumblebee.h.


Constructor & Destructor Documentation

mrpt::vision::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee ( int  cameraIndex = 0,
unsigned int  resolutionX = 320,
unsigned int  resolutionY = 240 
)

Constructor:.

mrpt::vision::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee ( const CStereoGrabber_Bumblebee  )  [inline]

Definition at line 80 of file CStereoGrabber_Bumblebee.h.

References THROW_EXCEPTION.

virtual mrpt::vision::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee ( void   )  [virtual]

Destructor.


Member Function Documentation

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::getImagesPairObservation ( 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 "CObservationVisualLandmarks::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.

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.

CStereoGrabber_Bumblebee& mrpt::vision::CStereoGrabber_Bumblebee::operator= ( const CStereoGrabber_Bumblebee  )  [inline]

Definition at line 89 of file CStereoGrabber_Bumblebee.h.

References THROW_EXCEPTION.


Member Data Documentation

If this has been correctly initiated.

Definition at line 63 of file CStereoGrabber_Bumblebee.h.

Disparity image.

Definition at line 71 of file CStereoGrabber_Bumblebee.h.

Rectified images.

Definition at line 67 of file CStereoGrabber_Bumblebee.h.

Definition at line 67 of file CStereoGrabber_Bumblebee.h.

Definition at line 73 of file CStereoGrabber_Bumblebee.h.

Definition at line 73 of file CStereoGrabber_Bumblebee.h.




Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN: at Thu Feb 26 02:19:01 EST 2009