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 generateTriclopsInput( FC2::Image const & grabbedImage,
ImageContainer & imageContainer,
TriclopsInput & triclopsColorInput,
TriclopsInput & triclopsMonoInput )
{
FC2::Error fc2Error;
FC2T::ErrorType fc2TriclopsError;
TriclopsError te;
FC2::Image * unprocessedImage = imageContainer.unprocessed;
fc2TriclopsError = FC2T::unpackUnprocessedRawOrMono16Image(
grabbedImage,
true /*assume little endian*/,
unprocessedImage[RIGHT],
unprocessedImage[LEFT] );
if ( fc2TriclopsError != FC2T::ERRORTYPE_OK )
{
return FC2T::handleFc2TriclopsError( fc2TriclopsError,
"unpackUnprocessedRawOrMono16Image" );
}
FC2::Image * monoImage = imageContainer.mono;
//ROS_INFO( "UnrpocessedImage cols,rows %d,%d", unprocessedImage[RIGHT].GetCols(), unprocessedImage[RIGHT].GetRows() );
// check if the unprocessed image is color
if ( unprocessedImage[RIGHT].GetBayerTileFormat() != FC2::NONE )
{
FC2::Image * bgruImage = imageContainer.bgru;
for ( int i = 0; i < 2; ++i )
{
if ( convertToBGRU( unprocessedImage[i], bgruImage[i] ) )
{
return 1;
}
}
FC2::Image & packedColorImage = imageContainer.packed;
// pack BGRU right and left image into an image
fc2TriclopsError = FC2T::packTwoSideBySideRgbImage( bgruImage[RIGHT],
bgruImage[LEFT],
packedColorImage );
if ( fc2TriclopsError != FC2T::ERRORTYPE_OK )
{
return handleFc2TriclopsError( fc2TriclopsError,
"packTwoSideBySideRgbImage" );
}
// Use the row interleaved images to build up a packed TriclopsInput.
// A packed triclops input will contain a single image with 32 bpp.
te = triclopsBuildPackedTriclopsInput( grabbedImage.GetCols(),
grabbedImage.GetRows(),
packedColorImage.GetStride(),
( unsigned long )grabbedImage.GetTimeStamp().seconds,
( unsigned long )grabbedImage.GetTimeStamp().microSeconds,
packedColorImage.GetData(),
&triclopsColorInput );
_HANDLE_TRICLOPS_ERROR( "triclopsBuildPackedTriclopsInput()", te );
// the following does not change the size of the image
// and therefore it PRESERVES the internal buffer!
packedColorImage.SetDimensions( packedColorImage.GetRows(),
packedColorImage.GetCols(),
packedColorImage.GetStride(),
packedColorImage.GetPixelFormat(),
FC2::NONE );
for ( int i = 0; i < 2; ++i )
{
fc2Error = bgruImage[i].Convert( FlyCapture2::PIXEL_FORMAT_MONO8, &monoImage[i] );
if ( fc2Error != FlyCapture2::PGRERROR_OK )
{
return Fc2Triclops::handleFc2Error( fc2Error );
}
}
}
else
{
monoImage[RIGHT] = unprocessedImage[RIGHT];
monoImage[LEFT] = unprocessedImage[LEFT];
}
// 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( grabbedImage.GetCols(),
grabbedImage.GetRows(),
grabbedImage.GetCols(),
( unsigned long )grabbedImage.GetTimeStamp().seconds,
( unsigned long )grabbedImage.GetTimeStamp().microSeconds,
monoImage[RIGHT].GetData(),
monoImage[LEFT].GetData(),
monoImage[LEFT].GetData(),
&triclopsMonoInput );
_HANDLE_TRICLOPS_ERROR( "triclopsBuildRGBTriclopsInput()", te );
return 0;
}