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<title>mrpt::hwdrivers::CStereoGrabber_Bumblebee Class Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html">CStereoGrabber_Bumblebee</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
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<a href="#pri-static-methods">Static Private Member Functions</a> </div>
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<div class="title">mrpt::hwdrivers::CStereoGrabber_Bumblebee Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hwdrivers__grp.html">[mrpt-hwdrivers]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hwdrivers::CStereoGrabber_Bumblebee" --><!-- doxytag: inherits="mrpt::utils::CUncopiable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A class for grabing stereo images from a "Bumblebee" or "Bumblebee2" camera NOTE: </p>
<ul>
<li>Windows:<ul>
<li>This class is only available when compiling MRPT with "MRPT_HAS_BUMBLEBEE".</li>
<li>You will need the "include" and "lib" directories of the vendor's proprietary software to be included in VC++ includes path.</li>
</ul>
</li>
<li>Linux:<ul>
<li>This class is only available when compiling MRPT with "MRPT_HAS_LIBDC1394_2".</li>
<li>Capture will be made in color, full resolution and "raw" (not rectified) only.</li>
</ul>
</li>
</ul>
<p>Once connected to a camera, you can call "getStereoObservation" to retrieve the stereo images.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>You'll probably want to use instead the most generic camera grabber in MRPT: <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html" title="The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.">mrpt::hwdrivers::CCameraSensor</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">mrpt/hwdrivers/CStereoGrabber_Bumblebee.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_Bumblebee:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_uncopiable.html" title="The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera..." alt="" coords="67,5,229,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a6306c4d2d22f981c0562babaac5e1426">CStereoGrabber_Bumblebee</a> (int cameraIndex=0, const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__bumblebee.html">TCaptureOptions_bumblebee</a> &options=<a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__bumblebee.html">TCaptureOptions_bumblebee</a>())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: <a href="#a6306c4d2d22f981c0562babaac5e1426"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a1278d1bbb4e4b7eddbe1996d39cbc3dc">~CStereoGrabber_Bumblebee</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a1278d1bbb4e4b7eddbe1996d39cbc3dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a797e732f2aebdb8728a1fc652311e06e">getStereoObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">mrpt::slam::CObservationStereoImages</a> &out_observation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Grab stereo images, and return the pair of rectified images. <a href="#a797e732f2aebdb8728a1fc652311e06e"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__bumblebee.html">TCaptureOptions_bumblebee</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a128c3995179864a3705c2f7ca65ca2a1">m_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bumblebee camera frame rate (Default: 15 fps) <a href="#a128c3995179864a3705c2f7ca65ca2a1"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html">mrpt::hwdrivers::CImageGrabber_dc1394</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#abf27ca143ec1235e95bead420664f3f7">m_firewire_capture</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The actual capture object used in Linux / Mac. <a href="#abf27ca143ec1235e95bead420664f3f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#aabbf26f845b4799526c60de5f531f1fa">m_bInitialized</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If this has been correctly initiated. <a href="#aabbf26f845b4799526c60de5f531f1fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a829ac866e7884a43779f8e9fe807a854">m_resolutionX</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#ac50bb78863d61f8ce0fb939ee0860ca1">m_resolutionY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The desired resolution. <a href="#ac50bb78863d61f8ce0fb939ee0860ca1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#ae3eb14d62337c2108cf1d9d83e7e3112">m_baseline</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Camera baseline. <a href="#ae3eb14d62337c2108cf1d9d83e7e3112"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a79d8222dce19337989cd3b02464c83ce">m_focalLength</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Camera focal length. <a href="#a79d8222dce19337989cd3b02464c83ce"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a756f0d5d910d6f5fca8df8d9d78738e1">m_centerCol</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a3bb18b05aec43470ca84a1d0c91fc9d1">m_centerRow</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Camera center coordinates. <a href="#a3bb18b05aec43470ca84a1d0c91fc9d1"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-static-methods"></a>
Static Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#adb6c526faeaff64f6200affcde2a8e06">convertFlyCaptureImagesToIplImages</a> (void *flycapImage, void *dstL, void *dstR)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input]. <a href="#adb6c526faeaff64f6200affcde2a8e06"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a6306c4d2d22f981c0562babaac5e1426"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee" ref="a6306c4d2d22f981c0562babaac5e1426" args="(int cameraIndex=0, const TCaptureOptions_bumblebee &options=TCaptureOptions_bumblebee())" -->
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<td class="memname">mrpt::hwdrivers::CStereoGrabber_Bumblebee::CStereoGrabber_Bumblebee </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>cameraIndex</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__bumblebee.html">TCaptureOptions_bumblebee</a> & </td>
<td class="paramname"><em>options</em> = <code><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__bumblebee.html">TCaptureOptions_bumblebee</a>()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor: </p>
</div>
</div>
<a class="anchor" id="a1278d1bbb4e4b7eddbe1996d39cbc3dc"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee" ref="a1278d1bbb4e4b7eddbe1996d39cbc3dc" args="(void)" -->
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<td class="memname">virtual mrpt::hwdrivers::CStereoGrabber_Bumblebee::~CStereoGrabber_Bumblebee </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="adb6c526faeaff64f6200affcde2a8e06"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::convertFlyCaptureImagesToIplImages" ref="adb6c526faeaff64f6200affcde2a8e06" args="(void *flycapImage, void *dstL, void *dstR)" -->
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<td class="memname">static void mrpt::hwdrivers::CStereoGrabber_Bumblebee::convertFlyCaptureImagesToIplImages </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>flycapImage</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>dstL</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>dstR</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Splits a Flycapture image into two separate IplImages (from the left and right cameras) (for internal use only) triclopsImage [input]. </p>
<p>The FlyCapture image to split dstL [output]. The Left CImage. dstR [output]. The Right CImage. </p>
</div>
</div>
<a class="anchor" id="a797e732f2aebdb8728a1fc652311e06e"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::getStereoObservation" ref="a797e732f2aebdb8728a1fc652311e06e" args="(mrpt::slam::CObservationStereoImages &out_observation)" -->
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<td class="memname">bool mrpt::hwdrivers::CStereoGrabber_Bumblebee::getStereoObservation </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">mrpt::slam::CObservationStereoImages</a> & </td>
<td class="paramname"><em>out_observation</em></td><td>)</td>
<td></td>
</tr>
</table>
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<div class="memdoc">
<p>Grab stereo images, and return the pair of rectified images. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_observation</td><td>The object to be filled with sensed data.</td></tr>
</table>
</dd>
</dl>
<p>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.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error, true if all go fine. </dd></dl>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ae3eb14d62337c2108cf1d9d83e7e3112"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_baseline" ref="ae3eb14d62337c2108cf1d9d83e7e3112" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#ae3eb14d62337c2108cf1d9d83e7e3112">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_baseline</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Camera baseline. </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00085">85</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<a class="anchor" id="aabbf26f845b4799526c60de5f531f1fa"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_bInitialized" ref="aabbf26f845b4799526c60de5f531f1fa" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#aabbf26f845b4799526c60de5f531f1fa">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_bInitialized</a><code> [protected]</code></td>
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<p>If this has been correctly initiated. </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00082">82</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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</div>
<a class="anchor" id="a756f0d5d910d6f5fca8df8d9d78738e1"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerCol" ref="a756f0d5d910d6f5fca8df8d9d78738e1" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a756f0d5d910d6f5fca8df8d9d78738e1">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerCol</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00087">87</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<a class="anchor" id="a3bb18b05aec43470ca84a1d0c91fc9d1"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerRow" ref="a3bb18b05aec43470ca84a1d0c91fc9d1" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a3bb18b05aec43470ca84a1d0c91fc9d1">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_centerRow</a><code> [protected]</code></td>
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<p>Camera center coordinates. </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00087">87</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<a class="anchor" id="abf27ca143ec1235e95bead420664f3f7"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_firewire_capture" ref="abf27ca143ec1235e95bead420664f3f7" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html">mrpt::hwdrivers::CImageGrabber_dc1394</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#abf27ca143ec1235e95bead420664f3f7">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_firewire_capture</a><code> [protected]</code></td>
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<p>The actual capture object used in Linux / Mac. </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00079">79</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<a class="anchor" id="a79d8222dce19337989cd3b02464c83ce"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_focalLength" ref="a79d8222dce19337989cd3b02464c83ce" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a79d8222dce19337989cd3b02464c83ce">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_focalLength</a><code> [protected]</code></td>
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<p>Camera focal length. </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00086">86</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<a class="anchor" id="a128c3995179864a3705c2f7ca65ca2a1"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_options" ref="a128c3995179864a3705c2f7ca65ca2a1" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options__bumblebee.html">TCaptureOptions_bumblebee</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a128c3995179864a3705c2f7ca65ca2a1">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_options</a></td>
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<p>Bumblebee camera frame rate (Default: 15 fps) </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00116">116</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<a class="anchor" id="a829ac866e7884a43779f8e9fe807a854"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionX" ref="a829ac866e7884a43779f8e9fe807a854" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#a829ac866e7884a43779f8e9fe807a854">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionX</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00083">83</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee.html#ac50bb78863d61f8ce0fb939ee0860ca1">mrpt::hwdrivers::CStereoGrabber_Bumblebee::m_resolutionY</a><code> [protected]</code></td>
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<p>The desired resolution. </p>
<p>Definition at line <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html#l00083">83</a> of file <a class="el" href="_c_stereo_grabber___bumblebee_8h_source.html">CStereoGrabber_Bumblebee.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
