tricalcdisp.cpp
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00023 #include <fvutils/writers/jpeg.h>
00024 #include <fvutils/readers/fvraw.h>
00025 #include <fvutils/color/conversions.h>
00026
00027 #include <stereo/triclops.h>
00028
00029 #include <list>
00030 #include <string>
00031
00032 #include <sys/stat.h>
00033 #include <sys/types.h>
00034 #include <dirent.h>
00035 #include <unistd.h>
00036 #include <cstdlib>
00037
00038 using namespace std;
00039 using namespace fawkes;
00040 using namespace firevision;
00041
00042 int
00043 main(int argc, char **argv)
00044 {
00045
00046 if ( argc < 3 ) {
00047 printf("Usage: %s <image> <triclops_context>\n", argv[0]);
00048 exit(-1);
00049 }
00050
00051 const char *file = argv[1];
00052 const char *context_file = argv[2];
00053
00054 char *outfile;
00055 asprintf(&outfile, "%s.jpg", file);
00056
00057 JpegWriter *jpeg = new JpegWriter(outfile);
00058
00059 try {
00060 FvRawReader *fvraw = new FvRawReader(file);
00061
00062 unsigned int width = fvraw->pixel_width();
00063 unsigned int height = fvraw->pixel_height();
00064
00065 if ( fvraw->colorspace() != RAW16 ) {
00066 printf("Can only operate on RAW16 images!\n");
00067 delete jpeg;
00068 delete fvraw;
00069 return -1;
00070 }
00071
00072 printf("Calculating disparity for %s to %s\n", file, outfile);
00073 printf("Using Triclops context file %s\n", context_file);
00074
00075 unsigned char *raw16 = malloc_buffer(RAW16, width, height);
00076 unsigned char *yuv422_planar = malloc_buffer(YUV422_PLANAR, width, height);
00077
00078 TriclopsStereoProcessor *tsp = new TriclopsStereoProcessor(width, height, context_file);
00079
00080 fvraw->set_buffer(raw16);
00081 fvraw->read();
00082
00083 tsp->set_raw_buffer(raw16);
00084
00085 tsp->preprocess_stereo();
00086 tsp->calculate_disparity();
00087
00088 memcpy(yuv422_planar, tsp->disparity_buffer(), width * height);
00089 memset(yuv422_planar + width * height, 128, width * height);
00090
00091 jpeg->set_buffer(YUV422_PLANAR, yuv422_planar);
00092 jpeg->set_dimensions(width, height);
00093 jpeg->write();
00094
00095 delete jpeg;
00096 delete fvraw;
00097 free(raw16);
00098 free(yuv422_planar);
00099 delete tsp;
00100 free(outfile);
00101
00102 } catch (Exception &e) {
00103 e.print_trace();
00104 throw;
00105 }
00106 }