xvsdk
3.2.0
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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... | |
A class to handle callbacks of the SGBM.
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strong |
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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.
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pure virtual |
convert DepthImage to pointCloud .
sgbmImage |
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virtualinherited |
Set output image brightness. Only valid in auto exposure mode.
[in] | brightness | brightness of image, [0,255] |
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virtualinherited |
Exposure setting.
[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 |