TriclopsError
getTriclopsContextFromCamera( PGRStereoCamera_t* stereoCamera,
TriclopsContext* pTriclops )
{
// note: if you have multi-users you should use a more robust temporary file name
// creation method to avoid permission conflicts
const char* tempFile = "/tmp/triclops.cal";
dc1394error_t err;
err = writeTriclopsConfigFromCameraToFile( stereoCamera->camera, tempFile );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Couldn't write config data to file\n" );
return TriclopsErrorSystemError;
}
TriclopsError tErr;
tErr = triclopsGetDefaultContextFromFile( pTriclops, (char*) tempFile );
if ( tErr != TriclopsErrorOk )
{
fprintf( stderr, "triclopsGetDefaultContextFromFile failed!\n" );
}
return tErr;
}
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 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 */ )
{
TriclopsError te;
FlyCaptureError fe;
TriclopsContext triclops;
FlyCaptureContext flycapture;
float baseline;
int nrows;
int ncols;
float focalLength;
TriclopsCameraConfiguration triclopsConfig;
// Create the Flycapture 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 );
// Destroy the Flycapture context - this program just displays information contained
// in the TriclopsContext
flycaptureDestroyContext( flycapture );
printf( "Triclops Version : %s\n", triclopsVersion() );
// get the camera configuration
te = triclopsGetCameraConfiguration( triclops, &triclopsConfig );
_HANDLE_TRICLOPS_ERROR( "triclopsGetCameraConfiguration()", te );
switch( triclopsConfig )
{
case TriCfg_L:
printf( "Configuration : 3 Camera\n" );
break;
case TriCfg_2CAM_HORIZONTAL:
printf( "Configuration : 2 Camera horizontal\n" );
break;
case TriCfg_2CAM_VERTICAL:
printf( "Configuration : 2 Camera vertical\n" );
break;
default:
printf( "Unrecognized configuration: %d\n", triclopsConfig );
}
// Get the baseline
te = triclopsGetBaseline( triclops, &baseline );
_HANDLE_TRICLOPS_ERROR( "triclopsGetBaseline()", te );
printf( "Baseline : %f cm\n", baseline*100.0 );
// Get the focal length
te = triclopsGetFocalLength( triclops, &focalLength );
_HANDLE_TRICLOPS_ERROR( "triclopsGetFocalLength()", te );
te = triclopsGetResolution( triclops, &nrows, &ncols );
_HANDLE_TRICLOPS_ERROR( "triclopsGetResolution()", te );
printf( "Focal Length : %f pixels for a %d x %d image\n",
focalLength,
ncols,
nrows ) ;
int nRows, nCols;
te = triclopsGetResolution( triclops, &nRows, &nCols );
_HANDLE_TRICLOPS_ERROR( "triclopsGetResolution()", te );
float fCenterRow, fCenterCol;
te = triclopsGetImageCenter( triclops, &fCenterRow, &fCenterCol );
_HANDLE_TRICLOPS_ERROR( "triclopsGetImageCenter()", te );
printf( "The default image resolution for stereo processing is %d x %d\n",
nCols, nRows );
printf( "For this resolution, the 'image center' or 'principal point' "
"is:\n" );
printf( "Center Row = %f\n", fCenterRow );
printf( "Center Col = %f\n", fCenterCol );
// Destroy the Triclops context
triclopsDestroyContext( triclops ) ;
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;
}
