9 #ifndef CStereoGrabber_SVS_H
10 #define CStereoGrabber_SVS_H
27 TCaptureOptions_SVS(
int _frame_width=640,
int _frame_height=480 ,
double _framerate = 30,
int _NDisp= 64,
28 int _Corrsize=15,
int _LR =
false,
int _Thresh = 10,
int _Unique = 13,
int _Horopter = 0,
int _SpeckleSize = 100,
bool _procesOnChip =
true,
bool _calDisparity =
true);
A class for grabing stereo images from a STOC camera of Videre Design NOTE:
CStereoGrabber_SVS(int cameraIndex=0, const TCaptureOptions_SVS &options=TCaptureOptions_SVS())
Constructor:
bool getStereoObservation(mrpt::obs::CObservationStereoImages &out_observation)
Grab stereo images, and return the pair of rectified images.
unsigned int m_resolutionX
unsigned int m_resolutionY
TCaptureOptions_SVS m_options
virtual ~CStereoGrabber_SVS(void)
Destructor.
bool m_bInitialized
If this has been correctly initiated.
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Options used when creating a STOC Videre Design camera capture object.
int frame_height
Capture resolution (Default: 640x480)
bool getRectified
Indicates if the STOC camera must capture rectified images (Default: true -> rectified)
TCaptureOptions_SVS(int _frame_width=640, int _frame_height=480, double _framerate=30, int _NDisp=64, int _Corrsize=15, int _LR=false, int _Thresh=10, int _Unique=13, int _Horopter=0, int _SpeckleSize=100, bool _procesOnChip=true, bool _calDisparity=true)
double framerate
STOC camera frame rate (Default: 30 fps)
int m_NDisp
number of STOC's disparities (Default: 64 )