Question

还是完全依赖于大黄蜂（或任何其他点灰度成像传感器）？我正在尝试链接bumblebee 2立体声装备附带的立体声处理API来处理一些离线图像。看来，triclops立体声功能需要一些上下文标志和校准文件，格式为input.cal和input.ppm（即一个包含两个立体校正图像的图像以某种方式模糊和重叠）。如何从其他离线图像获取此input.ppm文件仍然可以使用triclops立体声API。那么校准文件input.cal怎么样才能获得它与离线图像一致以及如何？

Answer 1

是的，Triclops API可用于处理离线图像。您指出的要求是来自相机和图像文件的校准文件（.cal）。校准文件最好在图像捕获时提取，但根据我的经验，除非您更改设置，它始终保持不变。为了满足Triclops API的输入，您还需要使用Point Grey Fly Capture API，因为它提供了图像转换的方法。我的项目正在完成您所要求的所有内容。我在场中捕获原始像素交错图像，然后使用FlyCapture和Triclops API处理它们，以创建整流和视差图像以及立体对中的点云。

检查Point Grey样本及其API文档，了解如何捕获校准文件。基本上这个方法是这样的：flycaptureGetCalibrationFileFromCamera( context, &szCalFile );上下文是'相机上下文'

您的初始图像文件格式会改变转换方法，但在我的情况下，我使用C ++进行从原始到立体声的转换。我正在使用大黄蜂XB3彩色相机，原始图像尺寸为1280x960，并从外部两个相机中抓取图像：

   // Read raw file 
   //pFile = fopen ( "FlyCap.raw" , "rb" );
   pFile = fopen ( argv[1] , "rb" );
   if (pFile==NULL) {fputs ("File error",stderr); exit (1);}

   // Set raw file size 
   ISize = (numCols*numRows*bytesPerPixel);

   // allocate memory to contain the whole file:
   buffer = (unsigned char*) malloc (sizeof(char)*ISize);
   if (buffer == NULL) {fputs ("Memory error",stderr); exit (2);}

   // copy the file into the buffer:
   result = fread (buffer,1,ISize,pFile);
   if (result != ISize) {fputs ("Reading error",stderr); exit (3);}

   // Create the FlyCapture Context for processing
   fe = flycaptureCreateContext( &flycapture );
   _HANDLE_FLYCAPTURE_ERROR( "flycaptureCreateContext()", fe );

   fe = flycaptureSetColorProcessingMethod(flycapture, FLYCAPTURE_HQLINEAR);
   _HANDLE_FLYCAPTURE_ERROR( "flycaptureSetColorProcessingMethod()", fe );

   fe = flycaptureSetColorTileFormat(flycapture, FLYCAPTURE_STIPPLEDFORMAT_GBRG);
   _HANDLE_FLYCAPTURE_ERROR( "flycaptureSetColorTileFormat()", fe );

   //Import the raw image in buffer into FlyCaptureImage structure
   flycaptureImage.iCols = 1280;
   flycaptureImage.iRows = 960;
   flycaptureImage.iNumImages = 2;
   flycaptureImage.bStippled = true;
   flycaptureImage.pixelFormat = FLYCAPTURE_RAW16;   
   flycaptureImage.iRowInc = 2560;
   flycaptureImage.timeStamp.ulSeconds = 100;
   flycaptureImage.timeStamp.ulMicroSeconds = 100;
   flycaptureImage.pData = buffer;

   // Create buffers for holding the color and mono images
   unsigned char* rowIntColor = 
   new unsigned char[ numCols * numRows * flycaptureImage.iNumImages * 4 ];
   unsigned char* rowIntMono = 
   new unsigned char[ numCols * numRows * flycaptureImage.iNumImages ];

   // 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 );

   //Save side-by-side color stereo image
   fe = flycaptureSaveImage( flycapture, &tempColorImage, stereoimg, FLYCAPTURE_FILEFORMAT_PPM );
   _HANDLE_FLYCAPTURE_ERROR( "flycaptureSaveImage()", fe );  

   printf ("Saving Stereo...\n");

请注意，到目前为止，我根本没有使用Triclops API。 flycaptureSaveImage();的输出是Triclops方法的输入。此时有一些选项可以处理颜色与单色。看看他们的Triclops API附带的Point Grey示例'stereoto3dpoints.cpp'它从我离开的地方接管。我希望这能够帮到你。

Triclops Stereo API可用于处理离线图像吗？

1 个答案: