Bumblebee相機：標定、分離圖像+保存成cv::Mat格式

整理資料發現未對Bumblebee的分離圖像、保存成cv::Mat格式的使用方法留存筆記，這裏補上，備忘。

使用須知

下述Bumblebee相機直接獲取的圖片是左右視圖混合（interleaved）之後的結果，如果需要進行雙目視覺處理，需要對interleaved的結果進行分離，得到左右相機採集的圖片；
Bumblebee相機出廠時即被標定好，無需自己標定，使用官方提供的API即可獲得標定好的左右視圖；當然也可以獲得raw圖，自己進行標定。
標定好的stereo pairs只是進行了相機標定，如果使用該圖片計算深度圖，還需進行立體校正，使相機滿足極線約束。

代碼

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

/*
	可選分辨率：
		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; // 設置輸出分辨率

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);

		// 選擇使用的相機：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：必須先設置triclopsSetCameraConfiguration，再設置分辨率：triclopsPrepareRectificationData，否則會導致同一分辨率下，不同基線對應的焦距不同

		// 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__);

		// 開始採集數據
		FC2::Error fc2Error = camera.StartCapture();
		handleError("FlyCapture2::Camera::StartCapture()", fc2Error, __LINE__);

		while ((char)cv::waitKey(5) != 'q') // 'q'退出
		{
			// 由內存中提取圖像（左右視圖“糾纏”在一起）			
			fc2Error = camera.RetrieveBuffer(&grabbedImage); // grabbedImage爲未標定原圖（包含左右視圖）
			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);

			// 對圖像進行校正，或使用：triclopsRectifyColorImage
			triclops_status = triclopsColorRectify(context, &colorStereoInput);
			triclops_examples::handleError("triclopsColorRectify()", triclops_status, __LINE__);

			// 獲取校正後的左右圖像--分離
			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__);

			/**************** 轉換成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);
	}
}

分離未標定原圖的代碼如下：

	//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安裝包中給出了很多例子和相應的API介紹文檔（主要有用的是Triclops_API_Documentation.chm、FlyCapture2 Documentation.chm），主要分爲兩個部分，分別對應於Triclops SDK安裝包和FlyCapture安裝包，結合例子和API可以很快上手使用，這裏進行簡單的介紹，方便大家查閱。
FlyCapture安裝包
FlyCapture安裝包裏提供的主要是一些較爲底層的API和例子，實現的是操作相機的基本功能，如採集相機圖像、設置相機參數等，文件路徑如下：

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

例子如下：

Triclops SDK安裝包
Triclops SDK提供的是對一些計算機立體視覺功能的封裝，如實時獲取深度點雲、生成視差圖、校正畸變、OpenCV接口等，文件路徑如下：

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：

備註

另附完整的工程+相關手冊的【雲盤下載鏈接】：ht？tps://pan.？baidu.c？om/s/1wvodHEKxOI4-fSbD1rJK6g
提取碼：a48b （去掉鏈接中的"？"可用）
更多格式轉換方法參考：Triclops圖片格式轉換成OpenCV Mat格式
歡迎大家留言批評指正，互相交流、共同進步。

Bumblebee相機：標定、分離圖像+保存成cv::Mat格式

使用須知

代碼

SDK使用

備註

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Bumblebee相機：標定、分離圖像+保存成cv::Mat格式

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