The class to handle callbacks of the multi cameras for the visual SLAM. More...

#include <xv-sdk.h>

Public Types
using	Data = FisheyeImages const &

Public Member Functions
virtual bool	start ()=0
	start streaming.

virtual bool	stop ()=0
	stop streaming.

virtual int	registerCallback (std::function< void(FisheyeImages 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

The class to handle callbacks of the multi cameras for the visual SLAM.

FisheyeCameras will get 2 or 4 #Calibration parameters. If 2 fisheyes cameras the first is left and second is right camera. For fisheye, per #Calibration only have one #UnifiedCameraModel and one #PolynomialDistortionCameraModel.

Member Function Documentation

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.

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]

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

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

E:/build/xvsdk/include/xv-sdk.h

Public Types

Public Member Functions

Detailed Description

Member Function Documentation