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106 const std::string& sectionName,
107 const std::string& prefix = std::string());
111 const std::string& _file_name = std::string());
113 const std::string& _file_name = std::string());
115 const std::string& _file_name = std::string());
227 bool queryVersion(std::string version,
bool printOutVersion =
false);
251 static_assert(!std::is_copy_constructible_v<CDUO3DCamera>,
"Copy Check");
252 static_assert(!std::is_copy_assignable_v<CDUO3DCamera>,
"Assign Check");
std::string m_intrinsic_filename
Intrinsic parameters file provided by DUO3D Calibration App (YML format).
mrpt::img::TStereoCamera m_stereo_camera
std::string m_extrinsic_filename
Extrinsic parameters file provided by DUO3D Calibration App (YML format).
@ yrr_NAME_NON_CONSISTENT
void * getEvent()
Returned pointer to be reinterpreted as DUO3D's "HANDLE".
void m_set_exposure(float value)
Sets DUO3D camera Exposure setting.
This "software driver" implements the communication protocol for interfacing a DUO3D Stereo Camera.
float m_fps
(Default = 30) Frames per second <= 30.
void setDataFrame(void *frame)
frame is a reinterpreted PDUOFrame
void close()
Stop capture and closes the opened camera, if any.
void stopCapture()
Stop capture.
TCaptureOptions_DUO3D m_options
Contains classes for various device interfaces.
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).
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_duo
Opaque pointer to DUO's DUOInstance.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation,...
void loadOptionsFrom(const mrpt::config::CConfigFileBase &configSource, const std::string §ionName, const std::string &prefix=std::string())
Loads all the options from a config file.
Use this class to rectify stereo images if the same distortion maps are reused over and over again.
bool captureIMUIsSet()
Indicates if the camera is grabbing IMU data.
const TCaptureOptions_DUO3D & getCameraOptions() const
Returns the current settings of the camera.
TYMLReadResult m_camera_ext_params_from_yml(const std::string &_file_name=std::string())
void m_close_duo_camera()
Closes DUO3D camera.
bool m_capture_imu
(Default = false) Capture IMU data.
int m_img_width
(Default = 640) Width of the captured image.
Structure to hold the parameters of a pinhole stereo camera model.
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).
CDUO3DCamera & operator=(const CDUO3DCamera &)=delete
void m_set_gain(float value)
Sets DUO3D camera Gain setting
TYMLReadResult m_camera_int_params_from_yml(const std::string &_file_name=std::string())
bool queryVersion(std::string version, bool printOutVersion=false)
Queries the DUO3D Camera firmware version.
float m_gain
(Default = 10) Camera gain.
float m_exposure
(Default = 50) Exposure value.
virtual ~CDUO3DCamera()
Destructor
TYMLReadResult m_rectify_map_from_yml(const std::string &_file_name=std::string())
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.
void m_set_led(float value)
Sets DUO3D camera LED setting
void * m_get_duo_frame()
Gets a stereo frame from the DUO3D Camera (void* to be reinterpreted as PDUOFrame)
void startCapture()
Start the actual data capture of the camera.
CDUO3DCamera()
Default Constructor (does not open the camera)
bool m_capture_rectified
(Default = true) Rectify images.
void open(const TCaptureOptions_DUO3D &options, const bool startCapture=true)
Tries to open the camera with the given options, and starts capturing.
void * m_evFrame
DUO's HANDLE.
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,...
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
mrpt::vision::CStereoRectifyMap m_rectify_map
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