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<title>mrpt::hwdrivers::CStereoGrabber_SVS Class Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html">CStereoGrabber_SVS</a> </li>
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<a href="#pro-attribs">Protected Attributes</a> </div>
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<div class="title">mrpt::hwdrivers::CStereoGrabber_SVS 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_SVS" --><!-- 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 STOC camera of Videre Design NOTE: </p>
<ul>
<li>Windows:<ul>
<li>This class is not available.</li>
</ul>
</li>
</ul>
<ul>
<li>Linux:<ul>
<li>This class is only available when compiling MRPT with "MRPT_HAS_SVS".</li>
<li>You must have the videre design's library.</li>
<li>Capture will be made in grayscale.</li>
<li>The grabber must be launch in root.</li>
</ul>
</li>
</ul>
<p>Once connected to a camera, you can call "getStereoObservation" to retrieve the Disparity 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___s_v_s_8h_source.html">mrpt/hwdrivers/CStereoGrabber_SVS.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CStereoGrabber_SVS:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s_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="47,5,209,32"/></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___s_v_s-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___s_v_s.html#a847343af24e2b58d504639898459fe9f">CStereoGrabber_SVS</a> (int cameraIndex=0, const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options___s_v_s.html">TCaptureOptions_SVS</a> &options=<a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options___s_v_s.html">TCaptureOptions_SVS</a>())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: <a href="#a847343af24e2b58d504639898459fe9f"></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___s_v_s.html#ac4fc272724376ddd9f66f7ac92c9306b">~CStereoGrabber_SVS</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#ac4fc272724376ddd9f66f7ac92c9306b"></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___s_v_s.html#a0858172d2edd07d68374a3eec55ab33a">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="#a0858172d2edd07d68374a3eec55ab33a"></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___s_v_s.html">TCaptureOptions_SVS</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#aaf7fa06cdced6335e5f664f586910845">m_options</a></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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#af5a03c6415becf6c8eb5525c51ee54bc">m_bInitialized</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If this has been correctly initiated. <a href="#af5a03c6415becf6c8eb5525c51ee54bc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#a07d5a4daeed77811702feacafc3ddfd3">m_videoObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#af28144470f3185fa3dd0ac653d269d96">m_stereoImage</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#aaf8831967eea47c713c9402aa7be6c06">m_disparityParams</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#af443037d3a2025e7b15715cf16f180d5">m_processObject</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___s_v_s.html#a8cee36fa895149d962a70c4ace7502e3">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___s_v_s.html#aaeb044a2cf408803889d9de626287c89">m_resolutionY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#a077c802ceb2bf1604ec2f463c256b6c2">m_ptrMat</a></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___s_v_s.html#ad871c34fa094b93af6084466ba8e67b2">m_status</a></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___s_v_s.html#afe874a3bfb17a49b43b78cef10f296fd">m_initialized</a></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___s_v_s.html#aefe9006c8ea35d174c4c60af0cac6a0c">m_procesOnChip</a></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___s_v_s.html#abbc2266c78cf975b1076c7cd3cea74b4">m_calDisparity</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a847343af24e2b58d504639898459fe9f"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::CStereoGrabber_SVS" ref="a847343af24e2b58d504639898459fe9f" args="(int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())" -->
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<td class="memname">mrpt::hwdrivers::CStereoGrabber_SVS::CStereoGrabber_SVS </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___s_v_s.html">TCaptureOptions_SVS</a> & </td>
<td class="paramname"><em>options</em> = <code><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options___s_v_s.html">TCaptureOptions_SVS</a>()</code> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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</table>
</div>
<div class="memdoc">
<p>Constructor: </p>
</div>
</div>
<a class="anchor" id="ac4fc272724376ddd9f66f7ac92c9306b"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::~CStereoGrabber_SVS" ref="ac4fc272724376ddd9f66f7ac92c9306b" args="(void)" -->
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<td class="memname">virtual mrpt::hwdrivers::CStereoGrabber_SVS::~CStereoGrabber_SVS </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a0858172d2edd07d68374a3eec55ab33a"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::getStereoObservation" ref="a0858172d2edd07d68374a3eec55ab33a" args="(mrpt::slam::CObservationStereoImages &out_observation)" -->
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<td class="memname">bool mrpt::hwdrivers::CStereoGrabber_SVS::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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<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="af5a03c6415becf6c8eb5525c51ee54bc"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_bInitialized" ref="af5a03c6415becf6c8eb5525c51ee54bc" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#af5a03c6415becf6c8eb5525c51ee54bc">mrpt::hwdrivers::CStereoGrabber_SVS::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___s_v_s_8h_source.html#l00084">84</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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</div>
<a class="anchor" id="abbc2266c78cf975b1076c7cd3cea74b4"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_calDisparity" ref="abbc2266c78cf975b1076c7cd3cea74b4" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#abbc2266c78cf975b1076c7cd3cea74b4">mrpt::hwdrivers::CStereoGrabber_SVS::m_calDisparity</a><code> [protected]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00098">98</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="aaf8831967eea47c713c9402aa7be6c06"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_disparityParams" ref="aaf8831967eea47c713c9402aa7be6c06" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#aaf8831967eea47c713c9402aa7be6c06">mrpt::hwdrivers::CStereoGrabber_SVS::m_disparityParams</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00088">88</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="afe874a3bfb17a49b43b78cef10f296fd"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized" ref="afe874a3bfb17a49b43b78cef10f296fd" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#afe874a3bfb17a49b43b78cef10f296fd">mrpt::hwdrivers::CStereoGrabber_SVS::m_initialized</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00096">96</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="aaf7fa06cdced6335e5f664f586910845"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_options" ref="aaf7fa06cdced6335e5f664f586910845" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1hwdrivers_1_1_t_capture_options___s_v_s.html">TCaptureOptions_SVS</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#aaf7fa06cdced6335e5f664f586910845">mrpt::hwdrivers::CStereoGrabber_SVS::m_options</a></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00105">105</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="aefe9006c8ea35d174c4c60af0cac6a0c"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip" ref="aefe9006c8ea35d174c4c60af0cac6a0c" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#aefe9006c8ea35d174c4c60af0cac6a0c">mrpt::hwdrivers::CStereoGrabber_SVS::m_procesOnChip</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00097">97</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="af443037d3a2025e7b15715cf16f180d5"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_processObject" ref="af443037d3a2025e7b15715cf16f180d5" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#af443037d3a2025e7b15715cf16f180d5">mrpt::hwdrivers::CStereoGrabber_SVS::m_processObject</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00089">89</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="a077c802ceb2bf1604ec2f463c256b6c2"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_ptrMat" ref="a077c802ceb2bf1604ec2f463c256b6c2" args="" -->
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<td class="memname">unsigned char* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#a077c802ceb2bf1604ec2f463c256b6c2">mrpt::hwdrivers::CStereoGrabber_SVS::m_ptrMat</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00093">93</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="a8cee36fa895149d962a70c4ace7502e3"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionX" ref="a8cee36fa895149d962a70c4ace7502e3" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#a8cee36fa895149d962a70c4ace7502e3">mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionX</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00090">90</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="aaeb044a2cf408803889d9de626287c89"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionY" ref="aaeb044a2cf408803889d9de626287c89" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#aaeb044a2cf408803889d9de626287c89">mrpt::hwdrivers::CStereoGrabber_SVS::m_resolutionY</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00091">91</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="ad871c34fa094b93af6084466ba8e67b2"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_status" ref="ad871c34fa094b93af6084466ba8e67b2" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#ad871c34fa094b93af6084466ba8e67b2">mrpt::hwdrivers::CStereoGrabber_SVS::m_status</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00095">95</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="af28144470f3185fa3dd0ac653d269d96"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_stereoImage" ref="af28144470f3185fa3dd0ac653d269d96" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#af28144470f3185fa3dd0ac653d269d96">mrpt::hwdrivers::CStereoGrabber_SVS::m_stereoImage</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00087">87</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.h</a>.</p>
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<a class="anchor" id="a07d5a4daeed77811702feacafc3ddfd3"></a><!-- doxytag: member="mrpt::hwdrivers::CStereoGrabber_SVS::m_videoObject" ref="a07d5a4daeed77811702feacafc3ddfd3" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html#a07d5a4daeed77811702feacafc3ddfd3">mrpt::hwdrivers::CStereoGrabber_SVS::m_videoObject</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html#l00086">86</a> of file <a class="el" href="_c_stereo_grabber___s_v_s_8h_source.html">CStereoGrabber_SVS.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>
