Bumblebee相机：标定、分离图像+保存成cv::Mat格式

版权声明：本文为博主原创文章，未经博主允许不得转载。 https://blog.csdn.net/YunLaowang/article/details/89705720

整理资料发现未对Bumblebee的分离图像、保存成cv::Mat格式的使用方法留存笔记，这里补上，备忘。

使用须知

1. 下述Bumblebee相机直接获取的图片是左右视图混合（interleaved）之后的结果，如果需要进行双目视觉处理，需要对interleaved的结果进行分离，得到左右相机采集的图片；

2. Bumblebee相机出厂时即被标定好，无需自己标定，使用官方提供的API即可获得标定好的左右视图；当然也可以获得raw图，自己进行标定。

3. 标定好的stereo pairs只是进行了相机标定，如果使用该图片计算深度图，还需进行立体校正，使相机满足极线约束。

代码

环境：Win10+OpenCV3.4.1 +（Triclops_4.0.3.4_x64+FlyCapture_2.12.3.31_x64）

/*
	可选分辨率：
		320×240;	384×288;	400×300;	512×384;
		640×480;	768×576;	800×600;	960×720;
		1024×768;	1152×864;	1280×960;		
*/
#include <iostream>
#include <fstream>
#include <string>

#include "captureimages.h"
#include "Example_Exception.h"

#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int feed_height = 480, feed_width = 640; // 设置输出分辨率

int main(int /* argc */, char ** /* argv */)
{
	TriclopsError triclops_status;
	TriclopsContext context;
	TriclopsColorStereoPair colorStereoInput;

	// camera to be used to grab color image
	FC2::Camera camera;
	// grabbed unprocessed image
	FC2::Image grabbedImage;

	try {
		// connect camera
		FC2::Error flycap_status = camera.Connect();
		handleError("FlyCapture2::Camera::Connect()", flycap_status, __LINE__);

		// configure camera by setting stereo mode
		//configureCamera(camera);

		// 选择使用的相机：左+右 OR 中+右
		FC2T::ErrorType fc2TriclopsError;
		FC2T::StereoCameraMode mode = FC2T::TWO_CAMERA_WIDE;//TWO_CAMERA_WIDE 	TWO_CAMERA_NARROW
		fc2TriclopsError = FC2T::setStereoMode(camera, mode);
		handleError("Fc2Triclops::setStereoMode()", fc2TriclopsError, __LINE__);

		// generate the Triclops context
		generateTriclopsContext(camera, context);

		// 注意：必须先设置triclopsSetCameraConfiguration，再设置分辨率：triclopsPrepareRectificationData，否则会导致同一分辨率下，不同基线对应的焦距不同

		// Setting the camera configuration. This is useful only when using a triple sensor stereo camera (e.g. XB3)
		triclops_status = triclopsSetCameraConfiguration(context, TriCfg_2CAM_HORIZONTAL_WIDE);// TriCfg_2CAM_HORIZONTAL_WIDE  TriCfg_2CAM_HORIZONTAL_NARROW
		triclops_examples::handleError("triclopsSetCameraConfiguration()", triclops_status, __LINE__);

		// Prepare the rectification buffers using the input resolution as output resolution.
		triclops_status = triclopsPrepareRectificationData(context, feed_height, feed_width, feed_height, feed_width);
		triclops_examples::handleError("triclopsPrepareRectificationData()", triclops_status, __LINE__);

		// 开始采集数据
		FC2::Error fc2Error = camera.StartCapture();
		handleError("FlyCapture2::Camera::StartCapture()", fc2Error, __LINE__);

		while ((char)cv::waitKey(5) != 'q') // 'q'退出
		{
			// 由内存中提取图像（左右视图“纠缠”在一起）			
			fc2Error = camera.RetrieveBuffer(&grabbedImage); // grabbedImage为未标定原图（包含左右视图）
			handleError("FlyCapture2::Camera::RetrieveBuffer()", fc2Error, __LINE__);

			// right and left image extracted from grabbed image
			ImageContainer imageCont;

			// generate color stereo input from grabbed image
			generateColorStereoInput(context, grabbedImage, imageCont, colorStereoInput);

			// 对图像进行校正，或使用：triclopsRectifyColorImage
			triclops_status = triclopsColorRectify(context, &colorStereoInput);
			triclops_examples::handleError("triclopsColorRectify()", triclops_status, __LINE__);

			// 获取校正后的左右图像--分离
			TriclopsColorImage color_left, color_right; // rectified image

			triclops_status = triclopsGetColorImage(context, TriImg_RECTIFIED_COLOR, TriCam_RIGHT, &color_right);
			triclops_examples::handleError("triclopsGetColorImage()", triclops_status, __LINE__);

			triclops_status = triclopsGetColorImage(context, TriImg_RECTIFIED_COLOR, TriCam_LEFT, &color_left);
			triclops_examples::handleError("triclopsGetColorImage()", triclops_status, __LINE__);

			/**************** 转换成Mat格式 ****************/
			cv::Mat right, left;
			cv::Mat imageR(color_right.nrows, color_right.ncols, CV_8UC4, color_right.data->value, color_right.rowinc);
			cv::Mat imageL(color_left.nrows, color_left.ncols, CV_8UC4, color_left.data->value, color_left.rowinc);

			cvtColor(imageL, left, CV_RGBA2RGB);
			cvtColor(imageR, right, CV_RGBA2RGB); // 注意格式

			imwrite("left.png", left);
			imwrite("right.png", right);
			/******************* END********************/
		}	

		// Close the camera
		camera.StopCapture();
		camera.Disconnect();

		// Destroy the Triclops context
		triclops_status = triclopsDestroyContext(context);
		triclops_examples::handleError("triclopsDestroyContext()", triclops_status, __LINE__);

	}
	catch (const triclops_examples::Example_Exception &exception) {
		std::cout << exception.what() << std::endl;

		triclopsDestroyContext(context);
		triclopsFreeColorStereoPair(&colorStereoInput, false);

		if (camera.IsConnected()) {
			camera.StopCapture();
			camera.Disconnect();
		}

		return -1;
	}
	cv::waitKey(0);

	return 0;
}

// configure camera by setting stereo mode
void configureCamera(FC2::Camera &camera)
{
	FC2T::ErrorType fc2TriclopsError;
	FC2T::StereoCameraMode mode = FC2T::TWO_CAMERA_WIDE;
	fc2TriclopsError = FC2T::setStereoMode(camera, mode);
	handleError("Fc2Triclops::setStereoMode()", fc2TriclopsError, __LINE__);
}

// generate triclops context from connected camera
void generateTriclopsContext(FC2::Camera &camera, TriclopsContext &context)
{
	FC2::CameraInfo camInfo;
	FC2::Error fc2Error = camera.GetCameraInfo(&camInfo);
	handleError("FlyCapture2::Camera::GetCameraInfo()", fc2Error, __LINE__);

	FC2T::ErrorType fc2TriclopsError;
	fc2TriclopsError = FC2T::getContextFromCamera(camInfo.serialNumber, &context);
	handleError("Fc2Triclops::getContextFromCamera()", fc2TriclopsError, __LINE__);
}


// generate color stereo input
void generateColorStereoInput(	TriclopsContext const &context,
								FC2::Image const &grabbedImage,
								ImageContainer &imageCont,
								TriclopsColorStereoPair &stereoPair)
{
	FC2T::ErrorType fc2TriclopsError;
	TriclopsError te;

	TriclopsColorImage triclopsImageContainer[2];
	FC2::Image *tmpImage = imageCont.tmp;
	FC2::Image *unprocessedImage = imageCont.unprocessed;

	// Convert the pixel interleaved raw data to de-interleaved and color processed data
	fc2TriclopsError = FC2T::unpackUnprocessedRawOrMono16Image(	grabbedImage,
																true /*assume little endian*/,
																tmpImage[RIGHT],
																tmpImage[LEFT]);

	handleError("Fc2Triclops::unpackUnprocessedRawOrMono16Image()", fc2TriclopsError, __LINE__);

	// preprocess color image
	for (int i = 0; i < 2; ++i) {
		FC2::Error fc2Error;
		fc2Error = tmpImage[i].SetColorProcessing(FC2::HQ_LINEAR);
		handleError("FlyCapture2::Image::SetColorProcessing()", fc2Error, __LINE__);

		// convert preprocessed color image to BGRU format
		fc2Error = tmpImage[i].Convert(FC2::PIXEL_FORMAT_BGRU,&unprocessedImage[i]);
		handleError("FlyCapture2::Image::Convert()", fc2Error, __LINE__);
	}

	// create triclops image for right and left lens
	for (size_t i = 0; i < 2; ++i) {
		TriclopsColorImage *image = &triclopsImageContainer[i];
		te = triclopsLoadColorImageFromBuffer(
			reinterpret_cast<TriclopsColorPixel *>(unprocessedImage[i].GetData()),
			unprocessedImage[i].GetRows(),
			unprocessedImage[i].GetCols(),
			unprocessedImage[i].GetStride(),
			image);
		triclops_examples::handleError("triclopsLoadColorImageFromBuffer()", te, __LINE__);
	}

	// create stereo input from the triclops images constructed above
	// pack image data into a TriclopsColorStereoPair structure
	te = triclopsBuildColorStereoPairFromBuffers(
		context,
		&triclopsImageContainer[RIGHT],
		&triclopsImageContainer[LEFT],
		&stereoPair);
	triclops_examples::handleError("triclopsBuildColorStereoPairFromBuffers()", te, __LINE__);
}

void handleError(const std::string &description, const FlyCapture2::Error &error, int lineNumber)
{
	if (error != FlyCapture2::PGRERROR_OK) {
		throw triclops_examples::Example_Exception(description, error.GetDescription(), lineNumber);
	}
}

void handleError(const std::string &description, const Fc2Triclops::ErrorType &error, int lineNumber)
{
	if (error != Fc2Triclops::ErrorType::ERRORTYPE_OK) {
		throw triclops_examples::Example_Exception(description, "FlyCapture 2 bridge error", lineNumber);
	}
}

分离未标定原图的代码如下：

	//Retrieve an image
	FlyCapture2::Image rawImage;
	error = cam.RetrieveBuffer(&rawImage);
	if (error != PGRERROR_OK)
	{
		PrintError(error);
		return -1;
	}

	//Separate the rawImage into right and left image
	FlyCapture2::Image rawImgR, rawImgL;
	unpackUnprocessedRawOrMono16Image(rawImage, true, rawImgR, rawImgL);
	rawImgR.SetColorProcessing(HQ_LINEAR);
	rawImgL.SetColorProcessing(HQ_LINEAR);

	//Convert to RGB
	FlyCapture2::Image rgbImgR, rgbImgL;
	rawImgR.Convert(PIXEL_FORMAT_BGR, &rgbImgR);
	rawImgL.Convert(PIXEL_FORMAT_BGR, &rgbImgL);

	//convert to OpenCV Mat
	unsigned int rowBytes = (double)rgbImgR.GetReceivedDataSize() / (double)rgbImgR.GetRows();
	cv::Mat imgR(rgbImgR.GetRows(), rgbImgR.GetCols(), CV_8UC3, rgbImgR.GetData(), rowBytes);
	cv::Mat imgL(rgbImgL.GetRows(), rgbImgL.GetCols(), CV_8UC3, rgbImgL.GetData(), rowBytes);							

SDK使用

官方在SDK安装包中给出了很多例子和相应的API介绍文档（主要有用的是Triclops_API_Documentation.chm、FlyCapture2 Documentation.chm），主要分为两个部分，分别对应于Triclops SDK安装包和FlyCapture安装包，结合例子和API可以很快上手使用，这里进行简单的介绍，方便大家查阅。
FlyCapture安装包
FlyCapture安装包里提供的主要是一些较为底层的API和例子，实现的是操作相机的基本功能，如采集相机图像、设置相机参数等，文件路径如下：

• C:\Program Files\Point Grey Research\FlyCapture2\src
• C:\Program Files\Point Grey Research\FlyCapture2\doc

例子如下：

Triclops SDK安装包
Triclops SDK提供的是对一些计算机立体视觉功能的封装，如实时获取深度点云、生成视差图、校正畸变、OpenCV接口等，文件路径如下：

• C:\Program Files\FLIR Integrated Imaging Solutions\Triclops Stereo Vision SDK\examples
• C:\Program Files\FLIR Integrated Imaging Solutions\Triclops Stereo Vision SDK\doc\API

例子如下：

备注

1. 另附完整的工程+相关手册的【云盘下载链接】：ht？tps://pan.？baidu.c？om/s/1wvodHEKxOI4-fSbD1rJK6g
   提取码：a48b （去掉链接中的"？"可用）
2. 更多格式转换方法参考：Triclops图片格式转换成OpenCV Mat格式
3. 欢迎大家留言批评指正，互相交流、共同进步。