Go to the documentation of this file.
10 #ifndef CDUO3DCamera_H
11 #define CDUO3DCamera_H
85 const std::string & sectionName,
86 const std::string & prefix = std::string() );
176 bool & there_is_imu );
182 inline void*
getEvent() {
return this->m_evFrame; }
185 inline void setDataFrame(
void* frame ) { this->m_pframe_data = frame; }
std::string m_intrinsic_filename
Intrinsic parameters file provided by DUO3D Calibration App (YML format).
std::string m_extrinsic_filename
Extrinsic parameters file provided by DUO3D Calibration App (YML format).
void * getEvent()
Returned pointer to be reinterpreted as DUO3D's "HANDLE".
This "software driver" implements the communication protocol for interfacing a DUO3D Stereo Camera.
Structure to hold the parameters of a pinhole stereo camera model.
float m_fps
(Default = 30) Frames per second <= 30.
void open(const TCaptureOptions_DUO3D &options, const bool startCapture=true)
Tries to open the camera with the given options, and starts capturing.
void setDataFrame(void *frame)
frame is a reinterpreted PDUOFrame
void * m_get_duo_frame()
Gets a stereo frame from the DUO3D Camera (void* to be reinterpreted as PDUOFrame)
void stopCapture()
Stop capture.
TCaptureOptions_DUO3D m_options
void * m_pframe_data
Pointer, to be reinterpreted as "PDUOFrame".
std::string m_rectify_map_filename
Rectification map file provided by DUO3D Calibration App (YML format).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
int m_img_height
(Default = 480) Height of the captured image.
Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.
void m_set_gain(float value)
Sets DUO3D camera Gain setting
void * m_duo
Opaque pointer to DUO's DUOInstance.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation,...
Use this class to rectify stereo images if the same distortion maps are reused over and over again.
virtual ~CDUO3DCamera()
Destructor
bool captureIMUIsSet()
Indicates if the camera is grabbing IMU data.
void m_set_exposure(float value)
Sets DUO3D camera Exposure setting.
TYMLReadResult m_camera_int_params_from_yml(const std::string &_file_name=std::string())
void m_set_led(float value)
Sets DUO3D camera LED setting
const TCaptureOptions_DUO3D & getCameraOptions() const
Returns the current settings of the camera.
TYMLReadResult m_rectify_map_from_yml(const std::string &_file_name=std::string())
void m_close_duo_camera()
Closes DUO3D camera.
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
bool m_capture_imu
(Default = false) Capture IMU data.
int m_img_width
(Default = 640) Width of the captured image.
This class allows loading and storing values and vectors of different types from a configuration text...
float m_led
(Default = 25) Led intensity (some device models).
The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...
CDUO3DCamera(const TCaptureOptions_DUO3D &options)
Constructor: tries to open the camera with the given options.
void getObservations(mrpt::obs::CObservationStereoImages &outObservation_img, mrpt::obs::CObservationIMU &outObservation_imu, bool &there_is_img, bool &there_is_imu)
Specific laser scanner "software drivers" must process here new data from the I/O stream,...
float m_gain
(Default = 10) Camera gain.
float m_exposure
(Default = 50) Exposure value.
bool queryVersion(std::string version, bool printOutVersion=false)
Queries the DUO3D Camera firmware version.
bool m_calibration_from_file
(Default = true) Get calibration information from files provided by DUO3D Calibration App.
bool m_open_duo_camera(int width, int height, float fps)
Opens DUO3D camera.
TYMLReadResult m_camera_ext_params_from_yml(const std::string &_file_name=std::string())
void startCapture()
Start the actual data capture of the camera.
bool m_capture_rectified
(Default = true) Rectify images. Rectification map must be provided
void close()
Stop capture and closes the opened camera, if any.
void * m_evFrame
DUO's HANDLE.
CDUO3DCamera()
Default Constructor (does not open the camera)
void loadOptionsFrom(const mrpt::utils::CConfigFileBase &configSource, const std::string §ionName, const std::string &prefix=std::string())
Loads all the options from a config file.
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
mrpt::utils::TStereoCamera m_stereo_camera
mrpt::vision::CStereoRectifyMap m_rectify_map
Page generated by Doxygen 1.8.20 for MRPT 1.4.0 SVN: at Thu Aug 27 02:40:23 UTC 2020 | | |