xv::SgbmCamera Class Reference

A class to handle callbacks of the SGBM. More...

#include <xv-sdk.h>

Public Types
enum class	Resolution { SGBM_640x480 = 0 , SGBM_1280x720 = 1 }
enum class	Mode { Hardware = 0 , Software }
using	Data = SgbmImage const &

Public Member Functions
virtual Mode	mode () const =0
	Must be called befor start.
virtual bool	start (const std::string &sgbmConfig)=0
virtual bool	start (const sgbm_config &sgbmConfig)=0
virtual bool	setConfig (const std::string &sgbmConfig)=0
virtual bool	setSgbmResolution (const xv::SgbmCamera::Resolution &resolution)=0
virtual xv::SgbmCamera::Resolution	getSgbmResolution ()=0
virtual std::shared_ptr< PointCloud >	depthImageToPointCloud (SgbmImage const &sgbmImage) const =0
	convert DepthImage to pointCloud . More...
virtual bool	start ()=0
	start streaming.
virtual bool	stop ()=0
	stop streaming.
virtual int	registerCallback (std::function< void(SgbmImage const &)>)=0
	Register callback to receive data.
virtual bool	unregisterCallback (int callbackId)=0
	Unregister callback.
virtual const std::vector< Calibration > &	calibration ()
	Get the camera calibration. More...
virtual bool	setResolution (int resolution)
virtual bool	setFramerate (float framerate)
virtual bool	setExposure (int aecMode=0, int exposureGain=0, float exposureTimeMs=0.0)
	Exposure setting. More...
virtual bool	setBrightness (int brightness)
	Set output image brightness. Only valid in auto exposure mode. More...

Detailed Description

A class to handle callbacks of the SGBM.

Member Enumeration Documentation

Resolution

enum xv::SgbmCamera::Resolution

strong

Enumerator
SGBM_640x480	SGBM 480p.
SGBM_1280x720	SGBM 720p.

Member Function Documentation

calibration()

virtual const std::vector<Calibration>& xv::Camera::calibration ( )

virtualinherited

Get the camera calibration.

The frames coordinates are defined according to the IMU frame coordinates. If 2 fisheyes cameras the first is left and second is right camera.

depthImageToPointCloud()

virtual std::shared_ptr<PointCloud> xv::SgbmCamera::depthImageToPointCloud ( SgbmImage const &  sgbmImage ) const

pure virtual

convert DepthImage to pointCloud .

Parameters

sgbmImage

Returns

std::shared_ptr<PointCloud>

Note

The coordinate system of the point cloud is the camera coordinate system, with the left camera as the origin.

The x, y, depth of the point cloud are in millimeters.

setBrightness()

virtual bool xv::Camera::setBrightness ( int  brightness )

virtualinherited

Set output image brightness. Only valid in auto exposure mode.

Parameters

[in]

brightness

brightness of image, [0,255]

setExposure()

virtual bool xv::Camera::setExposure ( int  aecMode = 0, int  exposureGain = 0, float  exposureTimeMs = 0.0  )

virtualinherited

Exposure setting.

Parameters

[in]	aecMode	0:auto exposure 1:manual exposure
[in]	exposureGain	Only valid in manual exposure mode, [0,255]
[in]	exposureTimeMs	Only valid in manual exposure mode, in milliseconds

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The documentation for this class was generated from the following file:

• /sources/include/xv-sdk.h