MRPT  2.0.3
CMyntEyeCamera.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/config.h>
12 
13 #include <mrpt/core/pimpl.h>
15 #include <mrpt/img/TCamera.h>
17 
18 namespace mrpt::hwdrivers
19 {
20 /** Open parameters for CMyntEyeCamera
21  * \sa CMyntEyeCamera
22  * \ingroup mrpt_hwdrivers_grp
23  */
25 {
26  std::uint8_t ir_intensity = 4; //!< IR (Infrared), range [0,10], default 0.
27 
28  void loadFromConfigFile(
29  const mrpt::config::CConfigFileBase& source,
30  const std::string& section) override;
31 };
32 
33 /** Wrapper on MYNT-EYE-D cameras. Requires MYNT-EYE SDK.
34  *
35  * \sa mrpt::hwdrivers::CCameraSensor
36  * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
37  * \ingroup mrpt_hwdrivers_grp
38  */
40 {
41  public:
43  virtual ~CMyntEyeCamera();
44 
45  /** Check whether the camera has been open successfully. */
46  bool isOpen() const { return m_bInitialized; }
47 
48  /** Grab an image from the opened camera.
49  * \param out_observation The object to be filled with sensed data.
50  *
51  * \return false on any error, true if all go fine.
52  */
54 
55  protected:
56  /** Set to false if we could not initialize the camera.
57  */
58  bool m_bInitialized = false;
59 
60  struct Impl;
62 
64 
65 }; // End of class
66 
67 } // namespace mrpt::hwdrivers
mrpt::hwdrivers::CMyntEyeCamera
Wrapper on MYNT-EYE-D cameras.
Definition: CMyntEyeCamera.h:39
mrpt::hwdrivers::CMyntEyeCamera::~CMyntEyeCamera
virtual ~CMyntEyeCamera()
Definition: CMyntEyeCamera.cpp:101
mrpt::hwdrivers::CMyntEyeCamera::m_intrinsics_left
mrpt::img::TCamera m_intrinsics_left
Definition: CMyntEyeCamera.h:63
mrpt::hwdrivers::CMyntEyeCamera::isOpen
bool isOpen() const
Check whether the camera has been open successfully.
Definition: CMyntEyeCamera.h:46
mrpt::hwdrivers
Contains classes for various device interfaces.
Definition: C2DRangeFinderAbstract.h:19
mrpt::pimpl
spimpl::impl_ptr< T > pimpl
Definition: pimpl.h:15
out
mrpt::vision::TStereoCalibResults out
Definition: chessboard_stereo_camera_calib_unittest.cpp:25
mrpt::hwdrivers::CMyntEyeCamera::m_bInitialized
bool m_bInitialized
Set to false if we could not initialize the camera.
Definition: CMyntEyeCamera.h:58
CObservation3DRangeScan.h
mrpt::hwdrivers::CMyntEyeCamera::m_intrinsics_right
mrpt::img::TCamera m_intrinsics_right
Definition: CMyntEyeCamera.h:63
TCamera.h
mrpt::hwdrivers::CMyntEyeCamera::Impl
Definition: CMyntEyeCamera.cpp:25
mrpt::obs::CObservation3DRangeScan
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
Definition: CObservation3DRangeScan.h:168
mrpt::config::CConfigFileBase
This class allows loading and storing values and vectors of different types from a configuration text...
Definition: config/CConfigFileBase.h:44
mrpt::config::CLoadableOptions
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Definition: config/CLoadableOptions.h:26
mrpt::img::TCamera
Parameters for the Brown-Conrady camera lens distortion model.
Definition: TCamera.h:26
params
mrpt::vision::TStereoCalibParams params
Definition: chessboard_stereo_camera_calib_unittest.cpp:24
mrpt::hwdrivers::CMyntEyeCamera::CMyntEyeCamera
CMyntEyeCamera(const TMyntEyeCameraParameters &params)
Definition: CMyntEyeCamera.cpp:52
mrpt::hwdrivers::CMyntEyeCamera::getObservation
bool getObservation(mrpt::obs::CObservation3DRangeScan &out)
Grab an image from the opened camera.
Definition: CMyntEyeCamera.cpp:103
safe_pointers.h
mrpt::hwdrivers::TMyntEyeCameraParameters::loadFromConfigFile
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
Definition: CMyntEyeCamera.cpp:186
mrpt::hwdrivers::TMyntEyeCameraParameters
Open parameters for CMyntEyeCamera.
Definition: CMyntEyeCamera.h:24
pimpl.h
mrpt::hwdrivers::CMyntEyeCamera::m_capture
mrpt::pimpl< Impl > m_capture
Definition: CMyntEyeCamera.h:60
mrpt::hwdrivers::TMyntEyeCameraParameters::ir_intensity
std::uint8_t ir_intensity
IR (Infrared), range [0,10], default 0.
Definition: CMyntEyeCamera.h:26



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