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;
}
stereoCam::stereoCam() {
// Find cameras on the 1394 buses
d = dc1394_new ();
// Enumerate cameras connected to the PC
err = dc1394_camera_enumerate (d, &list);
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to look for cameras\n\n"
"Please check \n"
" - if the kernel modules `ieee1394',`raw1394' and `ohci1394' "
"are loaded \n"
" - if you have read/write access to /dev/raw1394\n\n");
nThisCam=-1;
//return 1;
}
if (list->num == 0)
{
fprintf( stderr, "No cameras found!\n");
nThisCam=-1;
//return 1;
}
printf( "There were %d camera(s) found attached to your PC\n", list->num );
// Identify cameras. Use the first stereo camera that is found
for ( nThisCam = 0; nThisCam < list->num; nThisCam++ )
{
camera = dc1394_camera_new(d, list->ids[nThisCam].guid);
if(!camera)
{
printf("Failed to initialize camera with guid %llx",
list->ids[nThisCam].guid);
continue;
}
printf( "Camera %d model = '%s'\n", nThisCam, camera->model );
if ( isStereoCamera(camera))
{
printf( "Using this camera\n" );
break;
}
dc1394_camera_free(camera);
}
if ( nThisCam == list->num )
{
printf( "No stereo cameras were detected\n" );
nThisCam=-1;
//return 0;
}
// Free memory used by the camera list
dc1394_camera_free_list (list);
// query information about this stereo camera
err = queryStereoCamera( camera, &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Cannot query all information from camera\n" );
cleanup_and_exit( camera );
}
if ( stereoCamera.nBytesPerPixel != 2 )
{
// can't handle XB3 3 bytes per pixel
fprintf( stderr,
"Example not updated to work with XB3 in 3 camera mode yet!\n" );
cleanup_and_exit( stereoCamera.camera );
}
// set the capture mode
printf( "Setting stereo video capture mode\n" );
err = setStereoVideoCapture( &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not set up video capture mode\n" );
cleanup_and_exit( stereoCamera.camera );
}
// have the camera start sending us data
printf( "Start transmission\n" );
err = startTransmission( &stereoCamera );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Unable to start camera iso transmission\n" );
cleanup_and_exit( stereoCamera.camera );
}
// give the auto-gain algorithms a chance to catch up
// printf( "Giving auto-gain algorithm a chance to stabilize\n" );
// sleep( 5 );
// Allocate all the buffers.
// Unfortunately color processing is a bit inefficient
// because of the number of
// data copies. Color data needs to be
// - de-interleaved into separate bayer tile images
// - color processed into RGB images
// - de-interleaved to extract the green channel
// for stereo (or other mono conversion)
// size of buffer for all images at mono8
nBufferSize = stereoCamera.nRows *
stereoCamera.nCols *
stereoCamera.nBytesPerPixel;
// allocate a buffer to hold the de-interleaved images
pucDeInterlacedBuffer = new unsigned char[ nBufferSize ];
pucRGBBuffer = new unsigned char[ 3 * nBufferSize ];
pucGreenBuffer = new unsigned char[ nBufferSize ];
// do stereo processing
printf( "Getting TriclopsContext from camera (slowly)... \n" );
e = getTriclopsContextFromCamera( &stereoCamera, &triclops );
TRIERR(e);
printf( "...got it\n" );
// make sure we are in subpixel mode
e = triclopsSetSubpixelInterpolation( triclops, 1 );
TRIERR(e);
e = triclopsSetDisparityMapping(triclops,0,60);
TRIERR(e);
e = triclopsSetDisparityMappingOn(triclops,1);
TRIERR(e);
e = triclopsSetUniquenessValidationMapping(triclops,0);
TRIERR(e);
e = triclopsSetTextureValidationMapping(triclops,0);
TRIERR(e);
isInRoutine=false;
}
