Bumblebee Camera: calibration, image + saved as separate cv :: Mat format

Disclaimer: This article is a blogger original article, shall not be reproduced without the bloggers allowed. https://blog.csdn.net/YunLaowang/article/details/89705720

Collating information not found in the separate images of Bumblebee, save as cv :: Mat use format retention notes, make up here, memo.

usage notice

1. Bumblebee following camera image acquired directly after the left and right views is the result of mixed (interleaved), the binocular visual processing if required, the results need to be interleaved separation to obtain captured images around the camera;

2. Bumblebee good camera ie calibration at the factory without its own calibration, you can get a good view about the calibration using the API provided by the official; course, you can get raw chart their own calibration.

3. Good stereo pairs calibrated camera calibration only carried out, if the image is calculated using the depth map, the need for perspective correction, the camera satisfy the epipolar constraint.

Code

Environment: 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);
	}
}

Separation codes uncalibrated picture as follows:

	//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);							

Use SDK

Official SDK installation package is given in a number of examples and corresponding API description document (mainly useful are Triclops_API_Documentation.chm, FlyCapture2 Documentation.chm), is divided into two portions, respectively corresponding to Triclops, SDK installation package installer and FlyCapture , with examples and can quickly get started using the API, a simple introduction here, facilitate access.
FlyCapture installation package
FlyCapture installation package is mainly provided by the API and the underlying some of the more examples, the basic function is to achieve operation of the camera, such as camera image acquisition, the camera setting parameters, the file path is as follows:

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

Examples are as follows:

Triclops SDK installation package
Triclops SDK package is provided for some stereoscopic computer functions, such as real-time access depth point cloud to generate a disparity map, the distortion correction, the OpenCV interface, file path as follows:

• 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

Examples are as follows:

Remark

1. Attached the complete works [+] cloud disk download links relevant manuals: ht? tps: // pan.? baidu.c? om / s / 1wvodHEKxOI4-fSbD1rJK6g
   extraction code: a48b (unlinked available in "?")
2. More Format Conversion Reference: Conversion Triclops picture format to format OpenCV Mat
3. We welcome comments criticism and mutual exchanges and common progress.