int
main( int argc, char** argv )
{
char* szInputFile = "disparity.pgm";
char* szOutputFile = "disparity-scaled.pgm";
unsigned char ucMinOut = 90;
unsigned char ucMaxOut = 255;
switch ( argc )
{
case 5:
ucMinOut = (unsigned char) atoi( argv[3] );
ucMaxOut = (unsigned char) atoi( argv[4] );
// deliberately fall through to 3-parm case
case 3:
szInputFile = argv[1];
szOutputFile = argv[2];
break;
case 1:
// use default parameters
break;
default:
printf( "Usage: scaleimage <input pgm> <output pgm> [<min out> <max out>]\n" );
return 1;
}
// Load the bit image from file
TriclopsImage image;
if ( !pgmReadToTriclopsImage( szInputFile, &image ) )
{
printf( "pgmReadToTriclopsImage() failed. Can't read '%s'\n", szInputFile );
return 1;
}
// scale the output image
scaleImage( &image, ucMinOut, ucMaxOut );
triclopsSaveImage( &image, szOutputFile );
// clean up memory allocated in context
freeImage( &image );
return 0;
}
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;
}
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;
}
