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

#include <xv-sdk.h>

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

pure virtual

convert DepthImage to pointCloud .

Parameters

sgbmImage

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.

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: