//=============================================================================
// extractImagesMono()
//
// De-interleave the stereo images into single images
// Construct a TriclopsInput for stereo processing from these images.
//
void
extractImagesMono( PGRStereoCamera_t* stereoCamera,
unsigned char* pucDeInterleaved,
unsigned char** ppucRightMono8,
unsigned char** ppucLeftMono8,
unsigned char** ppucCenterMono8)
{
dc1394error_t err;
// RC7
dc1394video_frame_t* frame;
err = dc1394_capture_dequeue( stereoCamera->camera,
DC1394_CAPTURE_POLICY_WAIT,
&frame );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "extractImagesColor - cannot dequeue image!\n" );
return;
}
unsigned char* pucGrabBuffer = frame->image;
unsigned char* right;
unsigned char* left;
unsigned char* center;
if ( stereoCamera->nBytesPerPixel == 2 )
{
// de-interlace the 16 bit data into 2 mono images
dc1394_deinterlace_stereo( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
2*stereoCamera->nRows );
right = pucDeInterleaved;
left = pucDeInterleaved + stereoCamera->nRows * stereoCamera->nCols;
center= left;
}
else
{
dc1394_deinterlace_rgb( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
3*stereoCamera->nRows );
// NOTE: this code needs to be double checked.
// Currently 3-bytes-per-pixel is not activatable in this example
right = pucDeInterleaved;
center = pucDeInterleaved + stereoCamera->nRows * stereoCamera->nCols;
left = pucDeInterleaved + 2 * stereoCamera->nRows * stereoCamera->nCols;
}
*ppucRightMono8 = right;
*ppucLeftMono8 = left;
*ppucCenterMono8 = center;
// return buffer for use
dc1394_capture_enqueue( stereoCamera->camera, frame );
return;
}
void
extractImagesColorXB3( PGRStereoCamera_t* stereoCamera,
dc1394bayer_method_t bayerMethod,
unsigned char* pucDeInterleaved,
unsigned char* pucRGB,
unsigned char* pucGreen,
unsigned char** ppucRightRGB,
unsigned char** ppucLeftRGB,
unsigned char** ppucCenterRGB)
{
dc1394error_t err;
dc1394video_frame_t* frame;
err = dc1394_capture_dequeue( stereoCamera->camera,
DC1394_CAPTURE_POLICY_WAIT,
&frame );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "extractImagesColor - cannot dequeue image!\n" );
return;
}
unsigned char* pucGrabBuffer = frame->image;
dc1394_deinterlace_rgb( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
3*stereoCamera->nRows );
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( pucDeInterleaved,
pucRGB,
stereoCamera->nCols,
3*stereoCamera->nRows,
stereoCamera->bayerTile,
bayerMethod );
// now deinterlace the RGB Buffer
dc1394_deinterlace_green( pucRGB,
pucGreen,
stereoCamera->nCols,
9*stereoCamera->nRows );
// NOTE: this code needs to be double checked.
// Currently 3-bytes-per-pixel is not activatable in this example
int iOneBufferPixels = stereoCamera->nRows * stereoCamera->nCols;
*ppucLeftRGB = pucRGB;
*ppucCenterRGB = pucRGB + 3 * iOneBufferPixels;
*ppucRightRGB = pucRGB + 6 * iOneBufferPixels;
// return buffer for use
dc1394_capture_enqueue( stereoCamera->camera, frame );
return;
}
//=============================================================================
// extractImagesColor()
//
// De-interleave the stereo images into single bayer patterns.
// De-bayer those images into color images.
// Construct a TriclopsInput for stereo processing from these images.
//
void
extractImagesColor( PGRStereoCamera_t* stereoCamera,
dc1394bayer_method_t bayerMethod,
unsigned char* pucDeInterleaved,
unsigned char* pucRGB,
unsigned char* pucGreen,
unsigned char** ppucRightRGB,
unsigned char** ppucLeftRGB,
unsigned char** ppucCenterRGB)
{
dc1394error_t err;
dc1394video_frame_t* frame;
err = dc1394_capture_dequeue( stereoCamera->camera,
DC1394_CAPTURE_POLICY_WAIT,
&frame );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "extractImagesColor - cannot dequeue image!\n" );
return;
}
unsigned char* pucGrabBuffer = frame->image;
if ( stereoCamera->nBytesPerPixel == 2 )
{
// de-interlace the 16 bit data into 2 bayer tile pattern images
dc1394_deinterlace_stereo( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
2*stereoCamera->nRows );
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( pucDeInterleaved,
pucRGB,
stereoCamera->nCols,
2*stereoCamera->nRows,
stereoCamera->bayerTile,
bayerMethod );
// now deinterlace the RGB Buffer to extract the green channel
// The green channel is a quick and dirty approximation to the mono
// equivalent of the image and can be used for stereo processing
dc1394_deinterlace_green( pucRGB,
pucGreen,
stereoCamera->nCols,
6*stereoCamera->nRows );
*ppucRightRGB = pucRGB;
*ppucLeftRGB = pucRGB + 3 * stereoCamera->nRows * stereoCamera->nCols;
*ppucCenterRGB = *ppucLeftRGB;
}
else
{
dc1394_deinterlace_rgb( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
3*stereoCamera->nRows );
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( pucDeInterleaved,
pucRGB,
stereoCamera->nCols,
3*stereoCamera->nRows,
stereoCamera->bayerTile,
bayerMethod );
// now deinterlace the RGB Buffer
dc1394_deinterlace_green( pucRGB,
pucGreen,
stereoCamera->nCols,
9*stereoCamera->nRows );
// NOTE: this code needs to be double checked.
// Currently 3-bytes-per-pixel is not activatable in this example
*ppucRightRGB = pucRGB;
*ppucCenterRGB = pucRGB + 3 * stereoCamera->nRows * stereoCamera->nCols;
*ppucLeftRGB = pucRGB + 6 * stereoCamera->nRows * stereoCamera->nCols;
}
// return buffer for use
dc1394_capture_enqueue( stereoCamera->camera, frame );
return;
}
//=============================================================================
// extractImagesMono()
//
// De-interleave the stereo images into single images
// Construct a TriclopsInput for stereo processing from these images.
//
void
extractImagesMonoXB3( PGRStereoCamera_t* stereoCamera,
unsigned char* pucDeInterleaved,
unsigned char** ppucRightMono8,
unsigned char** ppucLeftMono8,
unsigned char** ppucCenterMono8,
TriclopsInput* pShortInput,
TriclopsInput* pWideInput )
{
dc1394error_t err;
// RC7
dc1394video_frame_t* frame;
err = dc1394_capture_dequeue( stereoCamera->camera,
DC1394_CAPTURE_POLICY_WAIT,
&frame );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "extractImagesColor - cannot dequeue image!\n" );
return;
}
unsigned char* pucGrabBuffer = frame->image;
unsigned char* right;
unsigned char* left;
unsigned char* center;
dc1394_deinterlace_rgb( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
3*stereoCamera->nRows );
// NOTE: this code needs to be double checked.
// Currently 3-bytes-per-pixel is not activatable in this example
left = pucDeInterleaved;
center = pucDeInterleaved + stereoCamera->nRows * stereoCamera->nCols;
right = pucDeInterleaved + 2 * stereoCamera->nRows * stereoCamera->nCols;
*ppucRightMono8 = right;
*ppucLeftMono8 = left;
*ppucCenterMono8 = center;
pShortInput->inputType = TriInp_RGB;
pShortInput->nrows = stereoCamera->nRows;
pShortInput->ncols = stereoCamera->nCols;
pShortInput->rowinc = stereoCamera->nCols;
pShortInput->u.rgb.red = right;
pShortInput->u.rgb.green = center;
pShortInput->u.rgb.blue = center;
pWideInput->inputType = TriInp_RGB;
pWideInput->nrows = stereoCamera->nRows;
pWideInput->ncols = stereoCamera->nCols;
pWideInput->rowinc = stereoCamera->nCols;
pWideInput->u.rgb.red = right;
pWideInput->u.rgb.green = left;
pWideInput->u.rgb.blue = left;
// return buffer for use
dc1394_capture_enqueue( stereoCamera->camera, frame );
return;
}