int doStereo( TriclopsContext const & triclops,
TriclopsInput const & stereoData,
TriclopsImage16 & depthImage )
{
TriclopsError te;
// Set subpixel interpolation on to use
// TriclopsImage16 structures when we access and save the disparity image
te = triclopsSetSubpixelInterpolation( triclops, 1 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetSubpixelInterpolation()", te );
te = triclopsSetDisparity( triclops, 0, 70 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetSubpixelInterpolation()", te );
//ROS_INFO("stereoData x,y: %d,%d",stereoData.nrows, stereoData.ncols);
te = triclopsSetResolution( triclops, stereoData.nrows, stereoData.ncols );
_HANDLE_TRICLOPS_ERROR( "triclopsSetResolution()", te );
// Rectify the images
te = triclopsRectify( triclops, const_cast<TriclopsInput *>( &stereoData ) );
_HANDLE_TRICLOPS_ERROR( "triclopsRectify()", te );
// Do stereo processing
te = triclopsStereo( triclops );
_HANDLE_TRICLOPS_ERROR( "triclopsStereo()", te );
// Retrieve the interpolated depth image from the context
te = triclopsGetImage16( triclops,
TriImg16_DISPARITY,
TriCam_REFERENCE,
&depthImage );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImage()", te );
return 0;
}
void
doRectifyStereoSave( TriclopsContext triclops,
TriclopsInput* pTriclopsInput,
const char* szDisparityBase,
const char* szNameModifier )
{
TriclopsError error;
// Rectify the images
error = triclopsRectify( triclops, pTriclopsInput );
_HANDLE_TRICLOPS_ERROR( "triclopsRectify()", error );
// Do stereo processing
error = triclopsStereo( triclops );
_HANDLE_TRICLOPS_ERROR( "triclopsStereo()", error );
// test whether we are doing subpixel stereo
TriclopsBool bSubpixel;
error = triclopsGetSubpixelInterpolation( triclops, &bSubpixel );
_HANDLE_TRICLOPS_ERROR( "triclopsGetSubpixelInterpolation()", error );
char szDisparityFile[1024];
if ( bSubpixel )
{
// Retrieve the disparity image from the context
TriclopsImage16 triclopsImage16;
error = triclopsGetImage16( triclops,
TriImg16_DISPARITY,
TriCam_REFERENCE,
&triclopsImage16 );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImage16(): Failed to get disparity image",
error );
// create the disparity name
sprintf( szDisparityFile, "%s-%s.pgm", szDisparityBase, szNameModifier );
// Save the disparity 16-bit image
error = triclopsSaveImage16( &triclopsImage16, szDisparityFile );
_HANDLE_TRICLOPS_ERROR( "triclopsSaveImage16(): Failed to save disparity image", error );
printf( "Wrote 16-bit disparity image to '%s'\n", szDisparityFile );
// scale it into an 8 bit image and save that as well
TriclopsImage triclopsImage;
// need to allocate the 8-bit TriclopsImage to scale this one into
triclopsImage.nrows = triclopsImage16.nrows;
triclopsImage.ncols = triclopsImage16.ncols;
triclopsImage.rowinc = triclopsImage16.ncols;
triclopsImage.data = (unsigned char*)
malloc( triclopsImage.nrows*triclopsImage.ncols );
scaleImage16ToImage8( &triclopsImage16, &triclopsImage, 90, 255 );
// create the disparity name
sprintf( szDisparityFile, "%s-%s-scaled.pgm", szDisparityBase, szNameModifier );
triclopsSaveImage( &triclopsImage, szDisparityFile );
printf( "Wrote disparity image to '%s'\n", szDisparityFile );
free( triclopsImage.data );
}
else
{
// Retrieve the disparity image from the context
TriclopsImage triclopsImage;
error = triclopsGetImage( triclops, TriImg_DISPARITY, TriCam_REFERENCE, &triclopsImage );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImage(): Failed to get disparity image",
error );
// scale the image so it is easier to see
scaleImage( &triclopsImage, 90, 255 );
// create the disparity name
sprintf( szDisparityFile, "%s-%s.pgm", szDisparityBase, szNameModifier );
// Save the disparity image
error = triclopsSaveImage( &triclopsImage, szDisparityFile );
_HANDLE_TRICLOPS_ERROR( "triclopsSaveImage(): Failed to save disparity image", error );
printf( "Wrote disparity image to '%s'\n", szDisparityFile );
}
return;
}
/* version that takes the DPPU pan and tilt, and the robot pose */
void stereoCam::doStereoFrame(
#ifdef OPENCV
IplImage *frame,
IplImage *disparity,
IplImage *depth,
FILE *out,
double pan, double tilt, double rx, double ry, double rth
#else
FILE *out
#endif
)
{
if ( inRoutine() ) return; // protected routine
for (int i=0; i<10; i++) {
pucRightRGB = NULL;
pucLeftRGB = NULL;
pucCenterRGB = NULL;
extractImagesColor( &stereoCamera,
DC1394_BAYER_METHOD_NEAREST,
pucDeInterlacedBuffer,
pucRGBBuffer,
pucGreenBuffer,
&pucRightRGB,
&pucLeftRGB,
&pucCenterRGB,
&input );
}
#if 0 // write out the raw images from the camera
if ( !writePpm( "yright.ppm", pucRightRGB,
stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote right.ppm\n" );
if ( !writePpm( "yleft.ppm", pucLeftRGB,
stereoCamera.nCols, stereoCamera.nRows ) )
printf( "wrote left.ppm\n" );
#endif
e = triclopsRectify( triclops, &input );
TRIERR(e);
// e = triclopsPreprocess(triclops, &input);
// TRIERR(e);
/************************************/
e = triclopsStereo( triclops );
TRIERR(e)
/************************************/
#if 0
// get and save the rectified and disparity images
e=triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_REFERENCE,
&image );
TRIERR(e);
e=triclopsSaveImage( &image, "yrectified.pgm" );
TRIERR(e);
printf( "wrote 'rectified.pgm'\n" );
#endif
e=triclopsGetImage16( triclops, TriImg16_DISPARITY,
TriCam_REFERENCE, &image16 );
TRIERR(e);
#if 0 // save disparity image -- warning its 16bit not 8bit!
if (gWriteImages) {
e=triclopsSaveImage16( &image16, "ydisparity.pgm" );
TRIERR(e);
printf( "wrote 'disparity.pgm'\n" );
}
#endif
outRoutine(); // allow other access to camera now
int nPoints=0;
int iPixelInc = image16.rowinc/2;
int rPixelInc = 3*stereoCamera.nCols;
for ( int iRow = 0; iRow < image16.nrows; iRow++ ) {
unsigned short* pusRow = image16.data + iRow * iPixelInc;
unsigned char * rgbRow = pucRightRGB + 3 * iRow * rPixelInc;
for ( int iCol= 0; iCol < image16.ncols; iCol++ ) {
unsigned short usDisp = pusRow[ iCol ];
float x,y,z;
double posBB[3], posW[3]; // x,y,z in bumblebee and in world frames
#ifdef OPENCV
if (frame!=0) cvSet2D(frame,iRow,iCol, // populate RGB image
cvScalar(rgbRow[ 3*iCol*3+2],
rgbRow[ 3*iCol*3+1],
rgbRow[ 3*iCol*3 ],0));
#endif
if ( usDisp < 0xFF00 ) { // valid disparity only
// convert the 16 bit disparity value to floating point x,y,z
triclopsRCD16ToXYZ(
triclops,
iRow,
iCol,
usDisp,
&x,
&y,
&z // x,y,z, in bumblebee frarame
);
nPoints++; posBB[0]=x; posBB[1]=y; posBB[2]=z;
if (z>0.1 && z< 5.0) {// near and far distance (meters) filter
transformBumbleBee2World(posBB, posW, pan, tilt, rx, ry, rth);
if (out!=0)
fprintf(out,
"%f, %f, %f, %d, %d, %d, %d, %d, %d\n",
posW[0], posW[1], posW[2], // write out world frame locations
iRow, iCol, usDisp,
rgbRow[ 3*iCol*3],
rgbRow[ 3*iCol*3+1],
rgbRow[ 3*iCol*3+2]);
#ifdef OPENCV
if (depth!=0) cvSet2D(depth,iRow,iCol,
// populate depth image with local frame info
//cvScalar(double(x), double(y), double(z), 0.0));
cvScalar(posW[0], posW[1], posW[2], 0));
#endif
}// write out result
#ifdef OPENCV
if (disparity!=0) cvSet2D(disparity,iRow,iCol,
// populate disparity image
cvScalar(usDisp/255,0,0,0));
#endif
}// if valid disparity
}// for iCol
}// for iRow
return;
}
