int
main( int /* argc */, char* /* * argv */ )
{
TriclopsContext triclops;
TriclopsError error;
TriclopsInput triclopsInput;
char* szInputFile = "input.ppm";
char* szCalFile = "input.cal";
char* szDisparityBase = "disparity";
// Get the camera calibration data
error = triclopsGetDefaultContextFromFile( &triclops, szCalFile );
_HANDLE_TRICLOPS_ERROR( "triclopsGetDefaultContextFromFile(): "
"Can't open calibration file",
error );
// Load images from file
if ( !ppmReadToTriclopsInput( szInputFile, &triclopsInput ) )
{
printf( "ppmReadToTriclopsInput() failed. Can't read '%s'\n", szInputFile );
return 1;
}
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "default" );
// try doing stereo with a big stereo mask
triclopsSetStereoMask( triclops, 21 );
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "bigmask" );
// try doing stereo with a small stereo mask
triclopsSetStereoMask( triclops, 5 );
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "smallmask" );
// set mask to a neutral value
triclopsSetStereoMask( triclops, 11 );
// try doing stereo without any validation
triclopsSetSurfaceValidation( triclops, 0 );
triclopsSetUniquenessValidation( triclops, 0 );
triclopsSetTextureValidation( triclops, 0 );
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "novalidation" );
// try doing stereo with only texture and surface
triclopsSetSurfaceValidation( triclops, 1 );
triclopsSetTextureValidation( triclops, 1 );
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "surf-tex-val" );
// try doing stereo in 2 camera mode with back and forth validation
triclopsSetCameraConfiguration( triclops, TriCfg_2CAM_HORIZONTAL );
triclopsSetBackForthValidation( triclops, 1 );
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "backforth" );
// try doing stereo in subpixel mode to compare the results of subpixel with
// whole pixel - try running "convertimage16" example to convert this image to
// one that is more easily viewed
triclopsSetSubpixelInterpolation( triclops, 1 );
doRectifyStereoSave( triclops, &triclopsInput, szDisparityBase, "subpixel" );
// clean up memory allocated in context
freeInput( &triclopsInput );
error = triclopsDestroyContext( triclops );
_HANDLE_TRICLOPS_ERROR( "triclopsDestroyContext()", error );
return 0;
}
int
main( int /* argc */, char** /* argv */ )
{
TriclopsContext context;
TriclopsImage depthImage;
TriclopsInput inputData;
TriclopsError error;
// get the camera module configuration
error = triclopsGetDefaultContextFromFile( &context, "config" );
_HANDLE_TRICLOPS_ERROR( "triclopsGetDefaultContextFromFile()", error );
if ( error != TriclopsErrorOk )
{
printf( "Can't open calibration file 'config'\n" );
exit( 1 );
}
// Load images from file
TriclopsBool bErr = ppmReadToTriclopsInput( "input.ppm", &inputData );
if( !bErr )
{
printf( "ppmReadToTriclopsInput() failed. Can't find input.ppm?\n" );
exit( 1 );
}
// set up some stereo parameters:
// set to 320x240 output images
error = triclopsSetResolution( context, 240, 320 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetResolution()", error );
// set disparity range
error = triclopsSetDisparity( context, 5, 60 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetDisparity()", error );
// set the display mapping
// note: disparity mapping corrupts the disparity values so that making
// distance measurements is more difficult and less accurate.
// Do not use it when you intend to actually use disparity values for
// purposes other than display
error = triclopsSetDisparityMapping( context, 128, 255 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetDisparityMapping()", error );
error = triclopsSetDisparityMappingOn( context, 1 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetDisparityMappingOn()", error );
// set the validation mappings to 0 (black)
error = triclopsSetUniquenessValidationMapping( context, 0 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetUniquenessValidationMapping()", error );
error = triclopsSetTextureValidationMapping( context, 0 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetTextureValidationMapping()", error );
// Preprocessing the images
error = triclopsPreprocess( context, &inputData );
_HANDLE_TRICLOPS_ERROR( "triclopsPreprocess()", error );
// stereo processing
error = triclopsStereo( context );
_HANDLE_TRICLOPS_ERROR( "triclopsStereo()", error );
// retrieve the depth image from the context
error = triclopsGetImage( context, TriImg_DISPARITY, TriCam_REFERENCE, &depthImage );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImage()", error );
// save the depth image
error = triclopsSaveImage( &depthImage, "depth.pgm" );
_HANDLE_TRICLOPS_ERROR( "triclopsSaveImage()", error );
// clean up memory allocated in context
freeInput( &inputData );
error = triclopsDestroyContext( context );
return 0;
}
