voxl::StereoCamera Class Reference

Handles stereo camera input. More...

#include <StereoCameraMinimal.h>

Inheritance diagram for voxl::StereoCamera:

Collaboration diagram for voxl::StereoCamera:

Public Member Functions
	StereoCamera (const cam_info &camera_info)
	Constructor.
	~StereoCamera () override=default
	Destructor.
Public Member Functions inherited from voxl::CameraBase
	CameraBase (const cam_info &camera_info)
	Constructor.
virtual	~CameraBase ()=default
	Virtual destructor.
virtual bool	connect ()
	Initialize the camera pipe connection.
virtual void	disconnect ()
	Disconnect and clean up resources.
const cam_info &	get_camera_info () const
	Get the camera information.
bool	popCameraData (ov_core::CameraData &out)
	Pop camera data from the queue.
int	get_channel () const
	Get the camera pipe channel.
size_t	get_id () const
	Get the camera identifier.

Protected Member Functions
void	process_image (const camera_image_metadata_t &meta, voxl::ImageType type, void *frame) override
	Process incoming image data.

Additional Inherited Members
Static Protected Member Functions inherited from voxl::CameraBase
static void	camera_callback (int ch, camera_image_metadata_t meta, char *frame, void *context)
	Common callback function for pipe client.
static void	camera_device_buffer_callback (int ch, mpa_ion_buf_t *data, void *context)
Protected Attributes inherited from voxl::CameraBase
cam_info	camera_info_
	Camera configuration information.
int	channel_ {-1}
	Channel used for pipe communication.
bool	is_connected_ {false}
	Indicates if camera is connected to pipe.
std::mutex	mutex_
	Mutex for thread-safe operations.
cl_context	ctx_ {nullptr}
	OpenCL context used if GPU is enabled.
cl_command_queue	q_ {nullptr}
	OpenCL command queue used if GPU is enabled.
boost::lockfree::spsc_queue< ov_core::CameraData, boost::lockfree::capacity< 64 > >	camera_queue
	Lock-free SPSC queue for camera data.
img_ringbuf_packet	curr_message_
	Instance-local buffer for image processing.
cv::Mat	use_mask_
	Per-instance reusable mask for feature tracking.
bool	drop_frames {false}
	Indicates if frames should be dropped.
bool	skip_jerk_detection {true}
	Indicates if jerk detection should be skipped.

Detailed Description

Handles stereo camera input.

This class specializes CameraBase for stereo camera configurations. It processes images from a single camera and feeds them to the VIO system.

The StereoCamera class provides:

• Single camera image processing
• RAW8 format support
• ION buffer processing
• Queue-based data management
• System state awareness

Key features:

• Inherits from CameraBase for common functionality
• Implements specific image processing for stereo setups
• Integrates with the camera queue fusion system
• Handles various image formats and buffer types

Definition at line 47 of file StereoCameraMinimal.h.

Constructor & Destructor Documentation

StereoCamera()

voxl::StereoCamera::StereoCamera ( const cam_info &  camera_info )

explicit

Constructor.

Constructor for StereoCamera.

Parameters

camera_info

Camera configuration information

Initializes a stereo camera instance by calling the base class constructor with the provided camera configuration information.

Parameters

camera_info

Camera configuration and calibration information

Definition at line 34 of file StereoCameraMinimal.cpp.

~StereoCamera()

voxl::StereoCamera::~StereoCamera ( )

overridedefault

Destructor.

Member Function Documentation

process_image()

void voxl::StereoCamera::process_image ( const camera_image_metadata_t &  meta, voxl::ImageType  type, void *  frame  )

overrideprotectedvirtual

Process incoming image data.

Overrides the base class method to handle stereo camera-specific image processing. This method is called by the pipe callback when new image data arrives.

Parameters

meta	Image metadata containing timestamp and format information
frame	Pointer to image data buffer

Overrides the base class method to handle stereo camera-specific image processing. This method is called by the pipe callback when new image data arrives.

The processing includes:

• Updating camera connection status and timestamps
• Checking system readiness before processing
• Routing to appropriate format-specific processing
• Updating current image dimensions

Currently supports RAW8 format with fast-path processing.

Parameters

meta	Image metadata containing timestamp and format information
frame	Pointer to image data buffer

Implements voxl::CameraBase.

Definition at line 57 of file StereoCameraMinimal.cpp.

References active_callbacks, is_cam_connected, is_resetting, last_cam_time, reset_cv, reset_mtx, and vio_error_codes.

---

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

• VoxlCam/StereoCameraMinimal.h
• VoxlCam/StereoCameraMinimal.cpp