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;
}
bool CameraStereoFlyCapture2::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_FLYCAPTURE2
if(camera_)
{
// Close the camera
camera_->StopCapture();
camera_->Disconnect();
}
if(triclopsCtx_)
{
triclopsDestroyContext(triclopsCtx_);
triclopsCtx_ = 0;
}
// connect camera
FlyCapture2::Error fc2Error = camera_->Connect();
if(fc2Error != FlyCapture2::PGRERROR_OK)
{
UERROR("Failed to connect the camera.");
return false;
}
// configure camera
Fc2Triclops::StereoCameraMode mode = Fc2Triclops::TWO_CAMERA_NARROW;
if(Fc2Triclops::setStereoMode(*camera_, mode ))
{
UERROR("Failed to set stereo mode.");
return false;
}
// generate the Triclops context
FlyCapture2::CameraInfo camInfo;
if(camera_->GetCameraInfo(&camInfo) != FlyCapture2::PGRERROR_OK)
{
UERROR("Failed to get camera info.");
return false;
}
float dummy;
unsigned packetSz;
FlyCapture2::Format7ImageSettings imageSettings;
int maxWidth = 640;
int maxHeight = 480;
if(camera_->GetFormat7Configuration(&imageSettings, &packetSz, &dummy) == FlyCapture2::PGRERROR_OK)
{
maxHeight = imageSettings.height;
maxWidth = imageSettings.width;
}
// Get calibration from th camera
if(Fc2Triclops::getContextFromCamera(camInfo.serialNumber, &triclopsCtx_))
{
UERROR("Failed to get calibration from the camera.");
return false;
}
triclopsSetResolution(triclopsCtx_, maxHeight, maxWidth);
if (triclopsPrepareRectificationData(triclopsCtx_,
maxHeight,
maxWidth,
maxHeight,
maxWidth))
{
UERROR("Failed to prepare rectification matrices.");
return false;
}
triclopsSetCameraConfiguration(triclopsCtx_, TriCfg_2CAM_HORIZONTAL_NARROW);
float fx, cx, cy, baseline;
triclopsGetFocalLength(triclopsCtx_, &fx);
triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
cx *= maxWidth;
cy *= maxHeight;
triclopsGetBaseline(triclopsCtx_, &baseline);
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f %dx%d", fx, cx, cy, baseline, maxWidth, maxHeight);
if(camera_->StartCapture() != FlyCapture2::PGRERROR_OK)
{
UERROR("Failed to start capture.");
return false;
}
return true;
#else
UERROR("CameraStereoFlyCapture2: RTAB-Map is not built with Triclops support!");
#endif
return false;
}
int
main( int /* argc */, char** /* argv */ )
{
TriclopsContext triclops;
TriclopsImage disparityImage;
TriclopsImage refImage;
TriclopsInput triclopsInput;
TriclopsROI* pRois;
int nMaxRois;
TriclopsError te;
FlyCaptureContext flycapture;
FlyCaptureImage flycaptureImage;
FlyCaptureInfoEx pInfo;
FlyCapturePixelFormat pixelFormat;
FlyCaptureError fe;
int iMaxCols = 0;
int iMaxRows = 0;
// Create the camera context
fe = flycaptureCreateContext( &flycapture );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureCreateContext()", fe );
// Initialize the camera
fe = flycaptureInitialize( flycapture, 0 );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureInitialize()", fe );
// Get the camera configuration
char* szCalFile;
fe = flycaptureGetCalibrationFileFromCamera( flycapture, &szCalFile );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureGetCalibrationFileFromCamera()", fe );
// Create a Triclops context from the cameras calibration file
te = triclopsGetDefaultContextFromFile( &triclops, szCalFile );
_HANDLE_TRICLOPS_ERROR( "triclopsGetDefaultContextFromFile()", te );
// Get camera information
fe = flycaptureGetCameraInfo( flycapture, &pInfo );
_HANDLE_FLYCAPTURE_ERROR( "flycatpureGetCameraInfo()", fe );
if (pInfo.CameraType == FLYCAPTURE_COLOR)
{
pixelFormat = FLYCAPTURE_RAW16;
}
else
{
pixelFormat = FLYCAPTURE_MONO16;
}
switch (pInfo.CameraModel)
{
case FLYCAPTURE_BUMBLEBEE2:
{
unsigned long ulValue;
flycaptureGetCameraRegister( flycapture, 0x1F28, &ulValue );
if ( ( ulValue & 0x2 ) == 0 )
{
// Hi-res BB2
iMaxCols = 1024;
iMaxRows = 768;
}
else
{
// Low-res BB2
iMaxCols = 640;
iMaxRows = 480;
}
}
break;
case FLYCAPTURE_BUMBLEBEEXB3:
iMaxCols = 1280;
iMaxRows = 960;
break;
default:
te = TriclopsErrorInvalidCamera;
_HANDLE_TRICLOPS_ERROR( "triclopsCheckCameraModel()", te );
break;
}
// Start grabbing
fe = flycaptureStartCustomImage(
flycapture, 3, 0, 0, iMaxCols, iMaxRows, 100, pixelFormat);
_HANDLE_FLYCAPTURE_ERROR( "flycaptureStart()", fe );
// Grab an image from the camera
fe = flycaptureGrabImage2( flycapture, &flycaptureImage );
_HANDLE_FLYCAPTURE_ERROR( "flycaptureGrabImage()", fe );
// Extract information from the FlycaptureImage
int imageCols = flycaptureImage.iCols;
int imageRows = flycaptureImage.iRows;
int imageRowInc = flycaptureImage.iRowInc;
int iSideBySideImages = flycaptureImage.iNumImages;
unsigned long timeStampSeconds = flycaptureImage.timeStamp.ulSeconds;
unsigned long timeStampMicroSeconds = flycaptureImage.timeStamp.ulMicroSeconds;
// Create buffers for holding the mono images
unsigned char* rowIntColor =
new unsigned char[ imageCols * imageRows * iSideBySideImages * 4];
unsigned char* rowIntMono =
new unsigned char[ imageCols * imageRows * iSideBySideImages ];
// Create a temporary FlyCaptureImage for preparing the stereo image
FlyCaptureImage tempColorImage;
FlyCaptureImage tempMonoImage;
tempColorImage.pData = rowIntColor;
tempMonoImage.pData = rowIntMono;
// Convert the pixel interleaved raw data to row interleaved format
fe = flycapturePrepareStereoImage(
flycapture, flycaptureImage, &tempMonoImage, &tempColorImage );
_HANDLE_FLYCAPTURE_ERROR( "flycapturePrepareStereoImage()", fe );
// Pointers to positions in the mono buffer that correspond to the beginning
// of the red, green and blue sections
unsigned char* redMono = NULL;
unsigned char* greenMono = NULL;
unsigned char* blueMono = NULL;
redMono = rowIntMono;
if (flycaptureImage.iNumImages == 2)
{
greenMono = redMono + imageCols;
blueMono = redMono + imageCols;
}
if (flycaptureImage.iNumImages == 3)
{
greenMono = redMono + imageCols;
blueMono = redMono + ( 2 * imageCols );
}
// Use the row interleaved images to build up an RGB TriclopsInput.
// An RGB triclops input will contain the 3 raw images (1 from each camera).
te = triclopsBuildRGBTriclopsInput(
imageCols,
imageRows,
imageRowInc,
timeStampSeconds,
timeStampMicroSeconds,
redMono,
greenMono,
blueMono,
&triclopsInput);
_HANDLE_TRICLOPS_ERROR( "triclopsBuildRGBTriclopsInput()", te );
// Set up some stereo parameters:
// Set to 640x480 output images
te = triclopsSetResolution( triclops, 480, 640 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetResolution()", te );
// Set disparity range to be quite wide
te = triclopsSetDisparity( triclops, 0, 200 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetDisparity()", te );
// Set subpixel interpolation off - so we know we don't need to use
// TriclopsImage16 structures when we access and save the disparity image
te = triclopsSetSubpixelInterpolation( triclops, 0 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetSubpixelInterpolation()", te );
// Get the pointer to the regions of interest array
te = triclopsGetROIs( triclops, &pRois, &nMaxRois );
_HANDLE_TRICLOPS_ERROR( "triclopsGetROIs()", te );
if( nMaxRois >= 4 )
{
// Set up four regions of interest:
// Entire upper left quadrant of image
pRois[0].row = 0;
pRois[0].col = 0;
pRois[0].nrows = 240;
pRois[0].ncols = 320;
// Part of the lower right
pRois[1].row = 240;
pRois[1].col = 320;
pRois[1].nrows = 180;
pRois[1].ncols = 240;
// Centered in upper right quadrant
pRois[2].row = 60;
pRois[2].col = 400;
pRois[2].nrows = 120;
pRois[2].ncols = 160;
// Small section of lower left
pRois[3].row = 300;
pRois[3].col = 30;
pRois[3].nrows = 80;
pRois[3].ncols = 80;
// Tell the TriclopsContext how many ROIs we want to process
te = triclopsSetNumberOfROIs( triclops, 4 );
_HANDLE_TRICLOPS_ERROR( "triclopsSetNumberOfROIs()", te );
}
else
{
printf( "Only %d ROIs available in the TriclopsContext "
"- this should never happen!\n"
"Aborting!\n",
nMaxRois );
// Destroy the Triclops context
triclopsDestroyContext( triclops ) ;
// Close the camera and destroy the context
flycaptureStop( flycapture );
flycaptureDestroyContext( flycapture );
return 1;
}
// Rectify the images
te = triclopsRectify( triclops, &triclopsInput );
_HANDLE_TRICLOPS_ERROR( "triclopsRectify()", te );
// Do stereo processing
te = triclopsStereo( triclops );
_HANDLE_TRICLOPS_ERROR( "triclopsStereo()", te );
// Retrieve the disparity image from the Triclops context
te = triclopsGetImage( triclops,
TriImg_DISPARITY,
TriCam_REFERENCE,
&disparityImage );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImage()", te );
// Retrieve the rectified image from the Triclops context
te = triclopsGetImage( triclops,
TriImg_RECTIFIED,
TriCam_REFERENCE,
&refImage );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImage()", te );
// Save the disparity image
te = triclopsSaveImage( &disparityImage, "disparity.pgm" );
_HANDLE_TRICLOPS_ERROR( "triclopsSaveImage()", te );
// Save the rectified image
te = triclopsSaveImage( &refImage, "rectified.pgm" );
_HANDLE_TRICLOPS_ERROR( "triclopsSaveImage()", te );
// Delete the image buffer, it is not needed once the TriclopsInput
// has been built
delete [] rowIntMono;
redMono = NULL;
greenMono = NULL;
blueMono = NULL;
// Destroy the Triclops context
triclopsDestroyContext( triclops ) ;
// Close the camera and destroy the Flycapture context
flycaptureStop( flycapture );
flycaptureDestroyContext( flycapture );
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;
}
