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20 CStereoGrabber_Bumblebee_libdc1394::CStereoGrabber_Bumblebee_libdc1394(
21 uint64_t cameraGUID, uint16_t cameraUnit,
double frameRate)
22 : m_firewire_capture(nullptr), m_bInitialized(false)
28 opt1394.deinterlace_stereo =
true;
30 std::map<double, grabber_dc1394_framerate_t> Rs;
40 if (Rs.find(frameRate) != Rs.end())
41 opt1394.framerate = Rs[frameRate];
43 cerr <<
"[CStereoGrabber_Bumblebee_libdc1394] Ignoring unknown "
51 cerr <<
"[CStereoGrabber_Bumblebee] The camera couldn't be open"
77 cerr <<
"[CStereoGrabber_Bumblebee] The camera couldn't be open"
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
bool isOpen() const
Check whether the camera has been open successfully.
Contains classes for various device interfaces.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library.
This namespace contains representation of robot actions and observations.
#define MRPT_TRY_END
The end of a standard MRPT "try...catch()" block that allows tracing throw the call stack after an ex...
#define MRPT_TRY_START
The start of a standard MRPT "try...catch()" block that allows tracing throw the call stack after an ...
virtual ~CStereoGrabber_Bumblebee_libdc1394()
Destructor.
Options used when creating an dc1394 capture object All but the frame size, framerate,...
int mode7
-1: Normal mode, i>=0: use MODE7_i, then frame_width/height and color_coding are ignored.
bool getObservation(mrpt::obs::CObservationImage &out_observation)
Grab an image from the opened camera (for monocular cameras).
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
mrpt::hwdrivers::CImageGrabber_dc1394 * m_firewire_capture
The actual capture object used in Linux / Mac.
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