Fawkes API Fawkes Development Version
tricalcdisp.cpp
1
2/***************************************************************************
3 * calcdisp.cpp - Calculate disparities for the given images
4 *
5 * Created: Mon Oct 08 13:42:01 2007
6 * Copyright 2005-2007 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#include <fvstereo/triclops.h>
24#include <fvutils/color/conversions.h>
25#include <fvutils/readers/fvraw.h>
26#include <fvutils/writers/jpeg.h>
27#include <sys/stat.h>
28#include <sys/types.h>
29
30#include <cstdlib>
31#include <dirent.h>
32#include <list>
33#include <string>
34#include <unistd.h>
35
36using namespace std;
37using namespace fawkes;
38using namespace firevision;
39
40int
41main(int argc, char **argv)
42{
43 if (argc < 3) {
44 printf("Usage: %s <image> <triclops_context>\n", argv[0]);
45 exit(-1);
46 }
47
48 const char *file = argv[1];
49 const char *context_file = argv[2];
50
51 char *outfile;
52 asprintf(&outfile, "%s.jpg", file);
53
54 JpegWriter *jpeg = new JpegWriter(outfile);
55
56 try {
57 FvRawReader *fvraw = new FvRawReader(file);
58
59 unsigned int width = fvraw->pixel_width();
60 unsigned int height = fvraw->pixel_height();
61
62 if (fvraw->colorspace() != RAW16) {
63 printf("Can only operate on RAW16 images!\n");
64 delete jpeg;
65 delete fvraw;
66 return -1;
67 }
68
69 printf("Calculating disparity for %s to %s\n", file, outfile);
70 printf("Using Triclops context file %s\n", context_file);
71
72 unsigned char *raw16 = malloc_buffer(RAW16, width, height);
73 unsigned char *yuv422_planar = malloc_buffer(YUV422_PLANAR, width, height);
74
75 TriclopsStereoProcessor *tsp = new TriclopsStereoProcessor(width, height, context_file);
76
77 fvraw->set_buffer(raw16);
78 fvraw->read();
79
80 tsp->set_raw_buffer(raw16);
81
82 tsp->preprocess_stereo();
84
85 memcpy(yuv422_planar, tsp->disparity_buffer(), width * height);
86 memset(yuv422_planar + width * height, 128, width * height);
87
88 jpeg->set_buffer(YUV422_PLANAR, yuv422_planar);
89 jpeg->set_dimensions(width, height);
90 jpeg->write();
91
92 delete jpeg;
93 delete fvraw;
94 free(raw16);
95 free(yuv422_planar);
96 delete tsp;
97 free(outfile);
98
99 } catch (Exception &e) {
100 e.print_trace();
101 throw;
102 }
103}
Base class for exceptions in Fawkes.
Definition: exception.h:36
void print_trace() noexcept
Prints trace to stderr.
Definition: exception.cpp:601
FvRaw image reader implementation.
Definition: fvraw.h:35
virtual void read()
Read data from file.
Definition: fvraw.cpp:111
virtual unsigned int pixel_width()
Get width of read image in pixels.
Definition: fvraw.cpp:91
virtual colorspace_t colorspace()
Get colorspace from the just read image.
Definition: fvraw.cpp:81
virtual void set_buffer(unsigned char *yuv422planar_buffer)
Set buffer that the read image should be written to.
Definition: fvraw.cpp:75
virtual unsigned int pixel_height()
Get height of read image in pixels.
Definition: fvraw.cpp:101
JPEG file writer.
Definition: jpeg.h:34
virtual void write()
Write to file.
Definition: jpeg.cpp:85
virtual void set_buffer(colorspace_t cspace, unsigned char *buffer)
Set image buffer.
Definition: jpeg.cpp:75
Stereo processing using PGR Triclops SDK.
Definition: triclops.h:38
virtual void preprocess_stereo()
Do any pre-processing needed.
Definition: triclops.cpp:523
virtual void calculate_disparity(ROI *roi=0)
Caculate disparity images.
Definition: triclops.cpp:546
virtual void set_raw_buffer(unsigned char *raw16_buffer)
Set raw buffer.
Definition: triclops.cpp:256
virtual unsigned char * disparity_buffer()
Get the disparity image buffer.
Definition: triclops.cpp:632
virtual void set_dimensions(unsigned int width, unsigned int height)
Set dimensions of image in pixels.
Definition: writer.cpp:128
Fawkes library namespace.