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; }
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; }
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; }
int do3dPoints( FC2::Image const & grabbedImage, TriclopsContext const & triclops, TriclopsImage16 const & disparityImage16, TriclopsInput const & colorData, PointCloud & returnedPoints ) { TriclopsImage monoImage = {0}; TriclopsColorImage colorImage = {0}; TriclopsError te; float x, y, z; int nPoints = 0; int pixelinc ; int i, j, k; unsigned short * row; unsigned short disparity; PointT point3d; // Rectify the color image if applicable bool isColor = false; if ( grabbedImage.GetPixelFormat() == FC2::PIXEL_FORMAT_RAW16 ) { isColor = true; te = triclopsRectifyColorImage( triclops, TriCam_REFERENCE, const_cast<TriclopsInput *>( &colorData ), &colorImage ); _HANDLE_TRICLOPS_ERROR( "triclopsRectifyColorImage()", te ); } else { te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_REFERENCE, &monoImage ); _HANDLE_TRICLOPS_ERROR( "triclopsGetImage()", te ); } // The format for the output file is: // <x> <y> <z> <red> <grn> <blu> <row> <col> // <x> <y> <z> <red> <grn> <blu> <row> <col> // ... // Determine the number of pixels spacing per row pixelinc = disparityImage16.rowinc / 2; //ROS_INFO("DisparityData x,y: %d,%d",disparityImage16.nrows, disparityImage16.ncols); for ( i = 0, k = 0; i < disparityImage16.nrows; i++ ) { row = disparityImage16.data + i * pixelinc; for ( j = 0; j < disparityImage16.ncols; j++, k++ ) { disparity = row[j]; // do not save invalid points if ( disparity < 0xFF00 ) { // convert the 16 bit disparity value to floating point x,y,z triclopsRCD16ToXYZ( triclops, i, j, disparity, &x, &y, &z ); // look at points within a range if ( z < 5.0 ) { point3d.x = z; point3d.y = -x; point3d.z = -y; if ( isColor ) { point3d.r = ( int )colorImage.red[k]; point3d.g = ( int )colorImage.green[k]; point3d.b = ( int )colorImage.blue[k]; } else { // For mono cameras, we just assign the same value to RGB point3d.r = ( int )monoImage.data[k]; point3d.g = ( int )monoImage.data[k]; point3d.b = ( int )monoImage.data[k]; } returnedPoints.push_back( point3d ); // fprintf( pPointFile, "%f %f %f %d %d %d %d %d\n", x, y, z, r, g, b, i, j ); nPoints++; } } } } //ROS_INFO( "Points in file: %d\n", nPoints ); return 0; }