24 #ifndef __FIREVISION_STEREO_TRICLOPS_H_ 25 #define __FIREVISION_STEREO_TRICLOPS_H_ 27 #include <fvstereo/stereo_processor.h> 28 #include <sys/types.h> 35 class Bumblebee2Camera;
37 class TriclopsStereoProcessorData;
38 class RectificationLutInfoBlock;
44 const char *context_file);
75 virtual bool get_xyz(
unsigned int px,
unsigned int py,
76 float *x,
float *y,
float *z);
79 float *x,
float *y,
float *z);
93 virtual void getall_world_xyz(
float ***buffer,
int hoff,
int voff,
int width,
int height,
float *settings);
96 void get_triclops_context_from_camera();
97 void deinterlace_green(
unsigned char* src,
100 unsigned int height);
102 void create_buffers();
103 void setup_triclops();
108 TriclopsStereoProcessorData *data;
110 unsigned char *buffer_rgb;
111 unsigned char *buffer_green;
112 unsigned char *buffer_rgb_left;
113 unsigned char *buffer_rgb_right;
114 unsigned char *buffer_rgb_center;
115 unsigned char *buffer_yuv_left;
116 unsigned char *buffer_yuv_right;
117 unsigned char *buffer_yuv_center;
118 unsigned char *_buffer;
119 unsigned char *buffer_deinterlaced;
120 unsigned char *buffer_raw16;
123 unsigned int _height;
125 unsigned int _output_image_width;
126 unsigned int _output_image_height;
virtual void set_lowpass(bool enabled)
Enable or disable lowpass filtering before rectification.
virtual bool subpixel_interpolation()
Check state of subpixel interpolation.
virtual void set_surface_validation(bool enabled)
Enable or disable surface validation.
virtual bool get_world_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z)
Get transformed coordinates of a point.
TriclopsStereoProcessor(unsigned int width, unsigned int height, const char *context_file)
Constructor.
virtual void calculate_yuv(bool both=false)
Caculate yuv images.
Camera interface for image aquiring devices in FireVision.
virtual ~TriclopsStereoProcessor()
Destructor.
virtual bool edge_correlation()
Check state of edge correlation.
bool verify_rectification_lut(const char *lut_file)
Verify rectification LUT.
virtual size_t disparity_buffer_size() const
Get disparity buffer size.
virtual void set_texture_validation(bool enabled)
Enable or disable texture validation.
virtual void set_disparity_range(int min, int max)
Set disparity range.
virtual unsigned char disparity_mapping_max()
Get disparity mapping max value.
void generate_rectification_lut(const char *lut_file)
Generate rectification LUT.
virtual unsigned char * disparity_buffer()
Get the disparity image buffer.
virtual bool disparity_mapping()
Check state of disparity mapping.
virtual void set_edge_correlation(bool enabled)
Enable or disable edge correlation.
virtual bool lowpass()
Check state of lowpass filtering.
virtual unsigned int edge_masksize()
Get edge mask size.
virtual int disparity_range_min()
Get disparity range min value.
virtual void set_stereo_masksize(unsigned int mask_size)
Set stereo mask.
virtual unsigned char disparity_mapping_min()
Get disparity mapping min value.
virtual void getall_world_xyz(float ***buffer, int hoff, int voff, int width, int height, float *settings)
Calculates all three cartesian coordinates of the entire disparity map The values transformed are giv...
virtual unsigned char * yuv_buffer_right()
Get YUV-formatted buffer of reference camera.
virtual void set_edge_masksize(unsigned int mask_size)
Set edge mask.
virtual void set_disparity_mapping_range(unsigned char min, unsigned char max)
Set disparity mapping range.
virtual void set_subpixel_interpolation(bool enabled)
Enable or disable subpixel interpolation.
Stereo processor interface.
Stereo processing using PGR Triclops SDK.
virtual bool texture_validation()
Check state of texture validation.
virtual unsigned int output_image_width()
Get width of ouput images.
virtual bool get_xyz(unsigned int px, unsigned int py, float *x, float *y, float *z)
Get camera-relative coordinates of a point.
virtual unsigned int output_image_height()
Get height of ouput images.
virtual unsigned int stereo_masksize()
Get stereo mask size.
virtual void calculate_disparity(ROI *roi=0)
Caculate disparity images.
virtual unsigned char * yuv_buffer_left()
Get YUV-formatted buffer of left camera.
virtual void set_raw_buffer(unsigned char *raw16_buffer)
Set raw buffer.
virtual bool surface_validation()
Check state of surface validation.
virtual void set_output_image_size(unsigned int width, unsigned int height)
Set the resolution of the output images.
virtual void preprocess_stereo()
Do any pre-processing needed.
virtual int disparity_range_max()
Get disparity range max value.
virtual void set_disparity_mapping(bool enabled)
Enable or disable disparity mapping.