/home/laradmin/lar/sensors/camera/xb3/triclops/include/triclops3d.h
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You shall not 00037 // disclose such Confidential Information and shall use it only in 00038 // accordance with the terms of the license agreement you entered into 00039 // with Point Grey Research, Inc. (PGR). 00040 // 00041 // PGR MAKES NO REPRESENTATIONS OR WARRANTIES ABOUT THE SUITABILITY OF THE 00042 // SOFTWARE, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE 00043 // IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 00044 // PURPOSE, OR NON-INFRINGEMENT. PGR SHALL NOT BE LIABLE FOR ANY DAMAGES 00045 // SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR DISTRIBUTING 00046 // THIS SOFTWARE OR ITS DERIVATIVES. 00047 // 00048 //============================================================================= 00049 //============================================================================= 00050 // $Id: triclops3d.h,v 2.2 2007/11/30 00:43:03 soowei Exp $ 00051 //============================================================================= 00052 #ifndef TRICLOPS3D_H 00053 #define TRICLOPS3D_H 00054 00055 //============================================================================= 00056 // 00057 // This file defines the API for 3D extraction and manipulation for the 00058 // Triclops Stereo Vision SDK. 00059 // 00060 //============================================================================= 00061 00062 00063 //============================================================================= 00064 // Defines 00065 //============================================================================= 00066 00067 //============================================================================= 00068 // System Includes 00069 //============================================================================= 00070 00071 #include <triclops.h> 00072 00073 #ifdef __cplusplus 00074 extern "C" 00075 { 00076 #endif 00077 00078 //============================================================================= 00079 // Macros 00080 //============================================================================= 00081 00082 00083 //============================================================================= 00084 // Enumerations 00085 //============================================================================= 00086 00087 //============================================================================= 00088 // Types 00089 //============================================================================= 00090 // 00091 // Group = Types 00092 00093 // 00094 // Name: TriclopsPoint3d 00095 // 00096 // Description: 00097 // This structure defines a single 3d pixel. It is only used in the 00098 // TriclopsImage3d structure. 00099 // 00100 typedef struct TriclopsPoint3d 00101 { 00102 // The 3 values for the (x,y,z) point in order x = 0, y = 1, z = 2. 00103 float point[3]; 00104 00105 } TriclopsPoint3d; 00106 00107 // 00108 // Name: TriclopsImage3d 00109 // 00110 // Description: 00111 // This structure defines the format of an image consisting of 3d points. 00112 // 00113 typedef struct TriclopsImage3d 00114 { 00115 // The number of rows in the image. 00116 int nrows; 00117 // The number of columns in the image. 00118 int ncols; 00119 // The number of bytes between the beginning of a row and the beginning 00120 // of the following row 00121 int rowinc; 00122 // The area for the pixel data. This must be numRows * numCols bytes 00123 // large. 00124 TriclopsPoint3d* points; 00125 00126 } TriclopsImage3d; 00127 00128 // 00129 // Name: TriclopsTransform 00130 // 00131 // Description: 00132 // A transformation matrix. 00133 // 00134 // 00135 typedef struct 00136 { 00137 double matrix[4][4]; 00138 00139 } TriclopsTransform; 00140 00141 //============================================================================= 00142 // Function Prototypes 00143 //============================================================================= 00144 // 00145 // Group = 3D 00146 00147 // 00148 // Name: triclopsRCDToXYZ 00149 // 00150 // Synopsis: 00151 // Converts image coordinates with disparity values that have been mapped 00152 // using the disparity mapping function into true 3D points. 00153 // 00154 // Input: 00155 // context - The stereo context. 00156 // row - The row of the input pixel. 00157 // col - The column of the input pixel. 00158 // disp - The disparity value of the input pixel. 00159 // 00160 // Output: 00161 // x - The x coordinate of the point represented by the input row column 00162 // disparity in the camera coordinate system. 00163 // y - The y coordinate of the point represented by the input row column 00164 // disparity in the camera coordinate system. 00165 // z - The z coordinate of the point represented by the input row 00166 // column disparity in the camera coordinate system. 00167 // 00168 // Returns: 00169 // TriclopsErrorOk - The operation succeeded. 00170 // InvalidContext - The input context was invalid. 00171 // 00172 // Description: 00173 // This function takes disparity values that have been scaled by the disparity 00174 // mapping feature. 00175 // 00176 // Remarks: 00177 // If you do not have the disparity mapping values set to 00178 // the same as the disparity values, you should use this function. However, 00179 // it is less efficient than the other XYZ conversion functions and may have 00180 // some round-off errors. It is preferable to set the disparity mapping range 00181 // to the same as the disparity range and use one of the other conversion 00182 // functions. 00183 // 00184 // It is up to the user to supply valid pixel locations. Pixels that have 00185 // been invalidated may give negative results. 00186 // 00187 // Disparity offset SHOULD NOT be applied to input disp values. In this 00188 // way, users can step through a disparity image calling this function 00189 // and passing image disparity values straight in with no changes. 00190 // 00191 // See Also: 00192 // triclopsRCDFloatToXYZ(), triclopsRCD8ToXYZ(), triclopsRCD16ToXYZ() 00193 // 00194 TriclopsError 00195 triclopsRCDToXYZ( TriclopsContext context, 00196 float row, 00197 float col, 00198 float disp, 00199 float* x, 00200 float* y, 00201 float* z ); 00202 00203 // 00204 // Name: triclopsRCDMappedToXYZ 00205 // 00206 // Synopsis: 00207 // Converts image coordinates with disparity values that have been mapped 00208 // using the disparity mapping function into true 3D points. 00209 // 00210 // Input: 00211 // context - The stereo context. 00212 // row - The row of the input pixel. 00213 // col - The column of the input pixel. 00214 // disp - The disparity value of the input pixel. 00215 // 00216 // Output: 00217 // x - The x coordinate of the point represented by the input row 00218 // column disparity in the camera coordinate system. 00219 // y - The y coordinate of the point represented by the input row 00220 // column disparity in the camera coordinate system. 00221 // z - The z coordinate of the point represented by the input row 00222 // column disparity in the camera coordinate system. 00223 // 00224 // Returns: 00225 // TriclopsErrorOk - The operation succeeded. 00226 // InvalidContext - The input context was invalid. 00227 // 00228 // Description: 00229 // This function takes disparity values that have been scaled by the disparity 00230 // mapping feature. 00231 // 00232 // Remarks: 00233 // If you do not have the disparity mapping values set to the same as the 00234 // disparity values, you should use this function. However, it is less 00235 // efficient than the other XYZ conversion functions and may have some 00236 // round-off errors. It is preferable to set the disparity mapping range 00237 // to the same as the disparity range and use one of the other conversion 00238 // functions. 00239 // 00240 // It is up to the user to supply valid pixel locations. Pixels that have 00241 // been invalidated may give negative results. 00242 // 00243 // Disparity offset SHOULD NOT be applied to input disp values. In this 00244 // way, users can step through a disparity image calling this function 00245 // and passing image disparity values straight in with no changes. 00246 // 00247 // See Also: 00248 // triclopsRCDFloatToXYZ(), triclopsRCD8ToXYZ(), triclopsRCD16ToXYZ() 00249 // 00250 TriclopsError 00251 triclopsRCDMappedToXYZ( TriclopsContext context, 00252 int row, 00253 int col, 00254 unsigned char disp, 00255 float* x, 00256 float* y, 00257 float* z ); 00258 00259 // 00260 // Name: triclopsRCDFloatToXYZ 00261 // 00262 // Synopsis: 00263 // Converts image coordinates and a floating-point disparity value into true 00264 // 3D points. 00265 // 00266 // Input: 00267 // context - The stereo context. 00268 // row - The row of the input pixel. 00269 // col - The column of the input pixel. 00270 // disp - The disparity value of the input pixel. 00271 // 00272 // Output: 00273 // x - The x coordinate of the point represented by the input row 00274 // column disparity in the camera coordinate system. 00275 // y - The y coordinate of the point represented by the input row 00276 // column disparity in the camera coordinate system. 00277 // z - The z coordinate of the point represented by the input row 00278 // column disparity in the camera coordinate system. 00279 // 00280 // Returns: 00281 // TriclopsErrorOk - The operation succeeded. 00282 // InvalidContext - The input context was invalid. 00283 // 00284 // Description: 00285 // This function takes a floating-point disparity value and converts it to 00286 // XYZ coordinates. 00287 // 00288 // Remarks: 00289 // It is up to the user to supply valid pixel locations. Pixels which 00290 // have been invalidated may give negative results. 00291 // 00292 // Disparity offset MUST be applied to input disp values, if offset != 0, 00293 // in order to produce valid XYZ values. 00294 // 00295 // See Also: 00296 // triclopsRCDMappedToXYZ(), triclopsRCD8ToXYZ(), triclopsRCD16ToXYZ(), 00297 // triclopsGetDisparityOffset() 00298 // 00299 TriclopsError 00300 triclopsRCDFloatToXYZ( TriclopsContext context, 00301 float row, 00302 float col, 00303 float disp, 00304 float* x, 00305 float* y, 00306 float* z ); 00307 00308 // 00309 // Name: triclopsRCD8ToXYZ 00310 // 00311 // Synopsis: 00312 // Converts image coordinates and an *-bit disparity into true 3D points. 00313 // 00314 // Input: 00315 // context - The stereo context. 00316 // row - The row of the input pixel. 00317 // col - The column of the input pixel. 00318 // disp - The disparity value of the input pixel. 00319 // 00320 // Output: 00321 // x - The x coordinate of the point represented by the input row 00322 // column disparity in the camera coordinate system. 00323 // y - The y coordinate of the point represented by the input row 00324 // column disparity in the camera coordinate system. 00325 // z - The z coordinate of the point represented by the input row 00326 // column disparity in the camera coordinate system. 00327 // 00328 // Returns: 00329 // TriclopsErrorOk - The operation succeeded. 00330 // InvalidContext - The input context was invalid. 00331 // 00332 // Description: 00333 // When using this function, you should ensure that the values for the 00334 // Triclops disparity mapping feature are the same as the disparity range. 00335 // 00336 // Remarks: 00337 // It is up to the user to supply valid pixel locations. Pixels that have 00338 // been invalidated may give negative results. 00339 // 00340 // Disparity offset SHOULD NOT be applied to input disp values. In this 00341 // way, users can step through a disparity image calling this function 00342 // and passing image disparity values straight in with no changes. 00343 // 00344 // See Also: 00345 // triclopsRCDFloatToXYZ(), triclopsRCDMappedToXYZ(), triclopsRCD16ToXYZ(), 00346 // triclopsSetDisparity(), triclopsSetDisparityMapping(), 00347 // triclopsGetDisparityOffset() 00348 // 00349 TriclopsError 00350 triclopsRCD8ToXYZ( TriclopsContext context, 00351 int row, 00352 int col, 00353 unsigned char disp, 00354 float* x, 00355 float* y, 00356 float* z ); 00357 00358 // 00359 // Name: triclopsRCD16ToXYZ 00360 // 00361 // Synopsis: 00362 // Converts image coordinates and a 16-bit disparity into true 3D points. 00363 // 00364 // Input: 00365 // context - The stereo context. 00366 // row - The row of the input pixel. 00367 // col - The column of the input pixel. 00368 // disp - The disparity value of the input pixel. 00369 // 00370 // Output: 00371 // x - The x coordinate of the point represented by the input 00372 // row column disparity in the camera coordinate system. 00373 // y - The y coordinate of the point represented by the input 00374 // row column disparity in the camera coordinate system. 00375 // z - The z coordinate of the point represented by the input 00376 // row column disparity in the camera coordinate system. 00377 // 00378 // Returns: 00379 // TriclopsErrorOk - The operation succeeded. 00380 // InvalidContext - The input context was invalid. 00381 // 00382 // Description: 00383 // When using this function, you should ensure that the values for the 00384 // Triclops disparity mapping feature are the same as the disparity range. 00385 // 00386 // Remarks: 00387 // It is up to the user to supply valid pixel locations. Pixels that have 00388 // been invalidated may give negative results. 00389 // 00390 // Disparity offset SHOULD NOT be applied to input disp values. In this 00391 // way, users can step through a disparity image calling this function 00392 // and passing image disparity values straight in with no changes. 00393 // 00394 // See Also: 00395 // triclopsRCDFloatToXYZ(), triclopsRCDMappedToXYZ(), triclopsRCD8ToXYZ(), 00396 // triclopsSetDisparity(), triclopsSetDisparityMapping() 00397 // triclopsGetDisparityOffset() 00398 // 00399 // 00400 TriclopsError 00401 triclopsRCD16ToXYZ( TriclopsContext context, 00402 int row, 00403 int col, 00404 unsigned short disp, 00405 float* x, 00406 float* y, 00407 float* z ); 00408 00409 // 00410 // Name: triclopsXYZToRCD 00411 // 00412 // Synopsis: 00413 // Converts true 3D points into image coordinates. 00414 // 00415 // Input: 00416 // context - TriclopsContext set up for desired resolution. 00417 // x - X value of a point in the Triclops coordinate system. 00418 // y - Y value of a point in the Triclops coordinate system. 00419 // z - Z value of a point in the Triclops coordinate system. 00420 // 00421 // Output: 00422 // row - The row in a disparity image. 00423 // col - The column in a disparity image. 00424 // disp - The disparity value that would match the point specified in XYZ. 00425 // 00426 // Returns: 00427 // TriclopsErrorOk - The Operation succeeded. 00428 // TriclopsErrorInvalidContext - Context is not valid TriclopsContext. 00429 // TriclopsErrorInvalidRequest - An impossible XYZ value has been provided 00430 // (ie: negative Z). 00431 // 00432 // Description: 00433 // This function takes as input the XYZ position of a point in the Triclops 00434 // coordinate system, and determines what row, column, and disparity value 00435 // would result from a sensed point at XYZ. 00436 // 00437 TriclopsError 00438 triclopsXYZToRCD( TriclopsContext context, 00439 float x, 00440 float y, 00441 float z, 00442 float* row, 00443 float* col, 00444 float* disp ); 00445 00446 // 00447 // Name: triclopsRCDToWorldXYZ 00448 // 00449 // Synopsis: 00450 // Converts image coordinates and disparity values to world 3D points. 00451 // 00452 // Input: 00453 // context - The stereo context. 00454 // row - The row of the input pixel. 00455 // col - The column of the input pixel. 00456 // disp - The disparity value of the input pixel. 00457 // 00458 // Output: 00459 // x - The x coordinate of the corresponding 3D point in the world 00460 // coordinate system 00461 // y - The y coordinate of the corresponding 3D point in the world 00462 // coordinate system 00463 // z - The z coordinate of the corresponding 3D point in the world 00464 // coordinate system 00465 // 00466 // Returns: 00467 // TriclopsErrorOk - The operation succeeded. 00468 // InvalidContext - The input context was invalid. 00469 // 00470 // Description: 00471 // This function takes a pixel location and matching disparity value and 00472 // calculates the 3D position that this combination represents. The 00473 // position is calculated in the "world" coordinate system. That is to say, 00474 // the position is calculated in the Triclops coordinate system and then 00475 // transformed by the TriclopsContext transform to a new coordinate system. 00476 // 00477 // Remarks: 00478 // It is up to the user to supply valid disparity values. Values 00479 // taken from invalid pixels in the disparity image give negative 00480 // results. 00481 // 00482 // Disparity offset SHOULD NOT be applied to input disp values. In this 00483 // way, users can step through a disparity image calling this function 00484 // and passing image disparity values straight in with no changes. 00485 // 00486 // See Also: 00487 // triclopsRCDFloatToXYZ(), triclopsRCD8ToXYZ(), triclopsRCD16ToXYZ(), 00488 // triclopsRCDFloatToWorldXYZ(), triclopsRCD8ToWorldXYZ(), 00489 // triclopsRCD16ToWorldXYZ(), triclopsSetTriclopsToWorldTransform(), 00490 // triclopsGetTriclopsToWorldTransform(), triclopsGetDisparityOffset() 00491 // 00492 TriclopsError 00493 triclopsRCDToWorldXYZ( TriclopsContext context, 00494 float row, 00495 float col, 00496 float disp, 00497 float* x, 00498 float* y, 00499 float* z ); 00500 00501 // 00502 // Name: triclopsRCDMappedToWorldXYZ 00503 // 00504 // Synopsis: 00505 // Converts image coordinates with disparity values that have been mapped 00506 // using the disparity mapping function into world 3D points. 00507 // 00508 // Input: 00509 // context - The stereo context. 00510 // row - The row of the input pixel. 00511 // col - The column of the input pixel. 00512 // disp - The disparity value of the input pixel. 00513 // 00514 // Output: 00515 // x - The x coordinate of the point represented by the input row 00516 // column disparity in the camera coordinate system. 00517 // y - The y coordinate of the point represented by the input row 00518 // column disparity in the camera coordinate system. 00519 // z - The z coordinate of the point represented by the input row 00520 // column disparity in the camera coordinate system. 00521 // 00522 // Returns: 00523 // TriclopsErrorOk - The operation succeeded. 00524 // InvalidContext - The input context was invalid. 00525 // 00526 // Description: 00527 // This function takes disparity values that have been scaled by the 00528 // disparity mapping feature and transforms them into a "world" 00529 // coordinate system based on the transform recorded in the TriclopsContext. 00530 // 00531 // Remarks: 00532 // If you have set "Disparity Mapping" on you should use this function. 00533 // However, it is less efficient than the other XYZ conversion functions and 00534 // may have some round-off errors. It is preferable to set the disparity 00535 // mapping off. 00536 // 00537 // It is up to the user to supply valid disparity values, invalid 00538 // disparity values (as taken from an invalid pixel in the a disparity 00539 // image) may give negative results. 00540 // 00541 // Disparity offset SHOULD NOT be applied to input disp values. In this 00542 // way, users can step through a disparity image calling this function 00543 // and passing image disparity values straight in with no changes. 00544 // 00545 // See Also: 00546 // triclopsRCDFloatToXYZ(), triclopsRCD8ToXYZ(), triclopsRCD16ToXYZ() 00547 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00548 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00549 // triclopsSetTriclopsToWorldTransform(), triclopsGetTriclopsToWorldTransform() 00550 // triclopsGetDisparityOffset() 00551 // 00552 TriclopsError 00553 triclopsRCDMappedToWorldXYZ( TriclopsContext context, 00554 int row, 00555 int col, 00556 unsigned char disp, 00557 float* x, 00558 float* y, 00559 float* z ); 00560 00561 // 00562 // Name: triclopsRCDFloatToWorldXYZ 00563 // 00564 // Synopsis: 00565 // Converts an image location and a floating-point disparity value into a 00566 // world 3D point. 00567 // 00568 // Input: 00569 // context - The stereo context. 00570 // row - The row of the input pixel. 00571 // col - The column of the input pixel. 00572 // disp - The disparity value of the input pixel. 00573 // 00574 // Output: 00575 // x - The x coordinate of the corresponding 3D point 00576 // y - The y coordinate of the corresponding 3D point 00577 // z - The z coordinate of the corresponding 3D point 00578 // 00579 // Returns: 00580 // TriclopsErrorOk - The operation succeeded. 00581 // InvalidContext - The input context was invalid. 00582 // 00583 // Description: 00584 // This function takes a floating-point disparity value and converts it to 00585 // XYZ coordinates in world coordinates. 00586 // 00587 // Remarks: 00588 // The world coordinates are determined by transforming the point from the 00589 // Triclops coordinate system to the world coordinate system based on the 00590 // TriclopsContext transform. 00591 // 00592 // It is up to the user to supply valid disparity values. 00593 // 00594 // Disparity offset MUST be applied to input disp values, if offset != 0, 00595 // in order to produce valid XYZ values. 00596 // 00597 // See Also: 00598 // triclopsRCDMappedToXYZ(), triclopsRCD8ToXYZ(), triclopsRCD16ToXYZ() 00599 // triclopsRCDToWorldXYZ(), 00600 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00601 // triclopsSetTriclopsToWorldTransform(), triclopsGetTriclopsToWorldTransform() 00602 // triclopsGetDisparityOffset() 00603 // 00604 TriclopsError 00605 triclopsRCDFloatToWorldXYZ( TriclopsContext context, 00606 float row, 00607 float col, 00608 float disp, 00609 float* x, 00610 float* y, 00611 float* z ); 00612 00613 // 00614 // Name: triclopsRCD8ToWorldXYZ 00615 // 00616 // Synopsis: 00617 // Converts image coordinates and an 8-bit disparity into a world 3D point. 00618 // 00619 // Input: 00620 // context - The stereo context. 00621 // row - The row of the input pixel. 00622 // col - The column of the input pixel. 00623 // disp - The disparity value of the input pixel. 00624 // 00625 // Output: 00626 // x - The x coordinate of the corresponding 3D point 00627 // y - The y coordinate of the corresponding 3D point 00628 // z - The z coordinate of the corresponding 3D point 00629 // 00630 // Returns: 00631 // TriclopsErrorOk - The operation succeeded. 00632 // InvalidContext - The input context was invalid. 00633 // 00634 // Description: 00635 // This function takes an 8-bit disparity value and converts it to 00636 // XYZ coordinates in world coordinates. The world coordinates are determined 00637 // by transforming the point from the Triclops coordinate system to the 00638 // world coordinate system based on the TriclopsContext transform. 00639 // 00640 // Remarks: 00641 // It is up to the user to supply valid disparity values 00642 // 00643 // Disparity offset SHOULD NOT be applied to input disp values. In this 00644 // way, users can step through a disparity image calling this function 00645 // and passing image disparity values straight in with no changes. 00646 // 00647 // See Also: 00648 // triclopsRCDFloatToXYZ(), triclopsRCDMappedToXYZ(), triclopsRCD16ToXYZ(), 00649 // triclopsSetDisparity(), triclopsSetDisparityMapping() 00650 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00651 // triclopsRCD16ToWorldXYZ(), 00652 // triclopsSetTriclopsToWorldTransform(), triclopsGetTriclopsToWorldTransform() 00653 // triclopsGetDisparityOffset() 00654 // 00655 TriclopsError 00656 triclopsRCD8ToWorldXYZ( TriclopsContext context, 00657 int row, 00658 int col, 00659 unsigned char disp, 00660 float* x, 00661 float* y, 00662 float* z ); 00663 00664 // 00665 // Name: triclopsRCD16ToWorldXYZ 00666 // 00667 // Synopsis: 00668 // Converts image coordinates and a 16-bit disparity into a world 3D point. 00669 // 00670 // Input: 00671 // context - The stereo context. 00672 // row - The row of the input pixel. 00673 // col - The column of the input pixel. 00674 // disp - The disparity value of the input pixel. 00675 // 00676 // Output: 00677 // x - The x coordinate of the corresponding 3D point 00678 // y - The y coordinate of the corresponding 3D point 00679 // z - The z coordinate of the corresponding 3D point 00680 // 00681 // Returns: 00682 // TriclopsErrorOk - The operation succeeded. 00683 // InvalidContext - The input context was invalid. 00684 // 00685 // Description: 00686 // This function takes a 16-bit disparity value and converts it to 00687 // XYZ coordinates in world coordinates. The world coordinates are determined 00688 // by transforming the point from the Triclops coordinate system to the 00689 // world coordinate system based on the TriclopsContext transform. 00690 // 00691 // Remarks: 00692 // It is up to the user to supply valid disparity values 00693 // 00694 // Disparity offset SHOULD NOT be applied to input disp values. In this 00695 // way, users can step through a disparity image calling this function 00696 // and passing image disparity values straight in with no changes. 00697 // 00698 // See Also: 00699 // triclopsRCDFloatToXYZ(), triclopsRCDMappedToXYZ(), triclopsRCD8ToXYZ(), 00700 // triclopsRCD16ToXYZ(), 00701 // triclopsSetDisparity(), triclopsSetDisparityMapping() 00702 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00703 // triclopsRCD8ToWorldXYZ(), 00704 // triclopsSetTriclopsToWorldTransform(), triclopsGetTriclopsToWorldTransform() 00705 // triclopsGetDisparityOffset() 00706 // 00707 // 00708 TriclopsError 00709 triclopsRCD16ToWorldXYZ( TriclopsContext context, 00710 int row, 00711 int col, 00712 unsigned short disp, 00713 float* x, 00714 float* y, 00715 float* z ); 00716 00717 // 00718 // Name: triclopsWorldXYZToRCD 00719 // 00720 // Synopsis: 00721 // Converts world 3D points into image coordinates. 00722 // 00723 // Input: 00724 // context - TriclopsContext set up for desired resolution. 00725 // x - X value of a point in the World coordinate system. 00726 // y - Y value of a point in the World coordinate system. 00727 // z - Z value of a point in the World coordinate system. 00728 // 00729 // Output: 00730 // row - The row in a disparity image. 00731 // col - The column in a disparity image. 00732 // disp - The disparity value that would match the point specified in XYZ. 00733 // 00734 // Returns: 00735 // TriclopsErrorOk - The Operation succeeded. 00736 // TriclopsErrorInvalidContext - Context is not valid TriclopsContext. 00737 // TriclopsErrorInvalidRequest - An impossible XYZ value has been provided 00738 // (ie: negative Z). 00739 // 00740 // Description: 00741 // This function takes as input the XYZ position of a point in the World 00742 // coordinate system, moves the point to the Triclops coordinate system 00743 // (as described by the TriclopsContext transform), and determines what 00744 // row, column, and disparity value would result from the resulting point. 00745 // 00746 // See Also: 00747 // triclopsRCDFloatToXYZ(), triclopsRCDMappedToXYZ(), triclopsRCD8ToXYZ(), 00748 // triclopsSetDisparity(), triclopsSetDisparityMapping() 00749 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00750 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00751 // triclopsXYZToRCD(), 00752 // triclopsSetTriclopsToWorldTransform(), triclopsGetTriclopsToWorldTransform() 00753 // 00754 TriclopsError 00755 triclopsWorldXYZToRCD( TriclopsContext context, 00756 float x, 00757 float y, 00758 float z, 00759 float* row, 00760 float* col, 00761 float* disp ); 00762 00763 // 00764 // Name: triclopsSetTriclopsToWorldTransform() 00765 // 00766 // Synopsis: 00767 // Sets the Triclops to World transform. 00768 // 00769 // Input: 00770 // context - the TriclopsContext 00771 // transform - the 4x4 homogeneous transform 00772 // 00773 // Output: 00774 // none 00775 // 00776 // Returns: 00777 // TriclopsErrorOk - The Operation succeeded. 00778 // TriclopsErrorInvalidContext - Context is not valid TriclopsContext. 00779 // TriclopsErrorInvalidRequest - The provided transform matrix has 00780 // a singular rotation component 00781 // 00782 // Description: 00783 // This function sets the internal TriclopsContext transform to match the 00784 // provided transform. 00785 // 00786 // Remarks: 00787 // There are several things to note: 00788 // 00789 // 1. The transform is the Triclops-to-World transform. ie: when this 00790 // transform is applied to a Triclops point, it will change it to a world 00791 // point. 00792 // 00793 // 2. The transform must be of the approved format. This means it has a 3x3 00794 // rotational component that is orthonormal and the bottom row must be of 00795 // format (0 0 0 n). This function will try to normalize the rotational 00796 // component and clean up the bottom row of the matrix. One can verify 00797 // whether modifications to the transform were necessary by obtaining the 00798 // current transform using triclopsGetTriclopsToWorldTransform() and comparing. 00799 // 00800 // See Also: 00801 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00802 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00803 // triclopsWorldXYZToRCD(), triclopsGetTriclopsToWorldTransform() 00804 // triclopsGetTransformFromFile(), triclopsWriteTransformToFile() 00805 // 00806 TriclopsError 00807 triclopsSetTriclopsToWorldTransform( TriclopsContext context, 00808 TriclopsTransform transform ); 00809 00810 // 00811 // Name: triclopsGetTriclopsToWorldTransform() 00812 // 00813 // Synopsis: 00814 // Gets the Triclops to World transform. 00815 // 00816 // Input: 00817 // context - the TriclopsContext 00818 // 00819 // Output: 00820 // transform - the 4x4 homogeneous transform 00821 // 00822 // Returns: 00823 // TriclopsErrorOk - The Operation succeeded. 00824 // TriclopsErrorInvalidContext - Context is not valid TriclopsContext. 00825 // 00826 // Description: 00827 // This function fills in the provided TriclopsTransform structure with the 00828 // current contents of the Triclops to World transform for this 00829 // TriclopsContext 00830 // 00831 // See Also: 00832 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00833 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00834 // triclopsWorldXYZToRCD(), triclopsSetTriclopsToWorldTransform() 00835 // triclopsGetTransformFromFile(), triclopsWriteTransformToFile() 00836 // 00837 TriclopsError 00838 triclopsGetTriclopsToWorldTransform( TriclopsContext context, 00839 TriclopsTransform* transform ); 00840 00841 // 00842 // Name: triclopsGetTransformFromFile() 00843 // 00844 // Synopsis: 00845 // Loads the contents of a TriclopsTransform from the input file. 00846 // 00847 // Input: 00848 // fileName - name of the file from which to load the transform 00849 // 00850 // Output: 00851 // transform - the 4x4 homogeneous transform 00852 // 00853 // Returns: 00854 // TriclopsErrorOk - The Operation succeeded. 00855 // CorruptTransformFile - either the file is not found or it contains invalid fields. 00856 // 00857 // Description: 00858 // This function fills in the provided TriclopsTransform structure based on 00859 // the contents read from the specified file. If the specified file is not 00860 // found, contains invalid fields, the value of CorruptTransformFile will be 00861 // returned. 00862 // 00863 // See Also: 00864 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00865 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00866 // triclopsWorldXYZToRCD(), triclopsSetTriclopsToWorldTransform(), 00867 // triclopsGetTriclopsToWorldTransform(), triclopsWriteTransformToFile 00868 // 00869 TriclopsError 00870 triclopsGetTransformFromFile( char* fileName, 00871 TriclopsTransform* transform ); 00872 00873 // 00874 // Name: triclopsWriteTransformToFile() 00875 // 00876 // Synopsis: 00877 // Saves the contents of a TriclopsTransform to the output file. 00878 // 00879 // Input: 00880 // fileName - name of the file to which to save the transform 00881 // transform - the 4x4 homogeneous transform to save 00882 // 00883 // Output: 00884 // 00885 // Returns: 00886 // TriclopsErrorOk - The Operation succeeded. 00887 // TriclopsErrorInvalidContext - Context is not valid TriclopsContext. 00888 // 00889 // Description: 00890 // This function saves the contents of the specified transform to an 00891 // external file. 00892 // 00893 // See Also: 00894 // triclopsRCDToWorldXYZ(), triclopsRCDFloatToWorldXYZ(), 00895 // triclopsRCD8ToWorldXYZ(), triclopsRCD16ToWorldXYZ(), 00896 // triclopsWorldXYZToRCD(), triclopsSetTriclopsToWorldTransform(), 00897 // triclopsGetTriclopsToWorldTransform(), triclopsGetTransformFromFile 00898 // 00899 TriclopsError 00900 triclopsWriteTransformToFile( char* fileName, 00901 TriclopsTransform* transform ); 00902 00903 // 00904 // Name: triclopsCreateImage3d 00905 // 00906 // Description: 00907 // Allocates a TriclopsImage3d to the correct size as specified by 00908 // the resolution of the TriclopsContext 00909 // 00910 // Input: 00911 // context - The current TriclopsContext. 00912 // ppimage - Pointer to the address of the TriclopsImage3d structure to 00913 // allocate memory for. 00914 // 00915 // Returns: 00916 // TriclopsErrorOk - The operation succeeded. 00917 // TriclopsErrorSystemError - If there was a problem allocating the memory. 00918 // 00919 // See Also: 00920 // triclopsDestroyImage3d(), triclopsExtractImage3d(), 00921 // triclopsExtractWorldImage3d() 00922 // 00923 TriclopsError 00924 triclopsCreateImage3d( TriclopsContext context, 00925 TriclopsImage3d** ppimage ); 00926 00927 // 00928 // Name: triclopsDestroyImage3d 00929 // 00930 // Description: 00931 // Deallocates a TriclopsImage3d allocated by triclopsCreateImage3d() 00932 // 00933 // Input: 00934 // ppimage - Pointer to the address of the TriclopsImage3d structure to 00935 // destroy. 00936 // 00937 // See Also: 00938 // triclopsCreateImage3d(), triclopsExtractImage3d(), 00939 // triclopsExtractWorldImage3d() 00940 // 00941 void 00942 triclopsDestroyImage3d( TriclopsImage3d** ppimage ); 00943 00944 // 00945 // Name: triclopsExtractImage3d 00946 // 00947 // Description: 00948 // Creates a 3D image given the current disparity result of a TriclopsContext 00949 // 00950 // Input: 00951 // context - The current TriclopsContext. 00952 // pimage - Pointer to the TriclopsImage3d structure. 00953 // 00954 // Returns: 00955 // TriclopsErrorOk - The operation succeeded. 00956 // TriclopsErrorInvalidContext - If the context is invalid. 00957 // TriclopsErrorInvalidParameter - If there is a geometry mismatch between 00958 // the context and the TriclopsImage3d. 00959 // TriclopsErrorInvalidRequest - If the (subpixel) disparity image does 00960 // not match the current resolution. 00961 // 00962 // Remarks: 00963 // Invalid points will be assigned the value of (0,0,0) in the returned image. 00964 // 00965 // See Also: 00966 // triclopsDestroyImage3d(), triclopsCreateImage3d(), 00967 // triclopsExtractWorldImage3d() 00968 // 00969 TriclopsError 00970 triclopsExtractImage3d( TriclopsContext context, 00971 TriclopsImage3d* pimage ); 00972 00973 // 00974 // Name: triclopsExtractWorldImage3d 00975 // 00976 // Description: 00977 // Creates a 3D image given the current disparity result of a TriclopsContext 00978 // that is transformed to the world coordinate system 00979 // 00980 // Input: 00981 // context - The current TriclopsContext. 00982 // pimage - Pointer to the TriclopsImage3d structure. 00983 // 00984 // Returns: 00985 // TriclopsErrorOk - The operation succeeded. 00986 // TriclopsErrorInvalidContext - If the context is invalid. 00987 // TriclopsErrorInvalidParameter - If there is a geometry mismatch between 00988 // the context and the TriclopsImage3d. 00989 // TriclopsErrorInvalidRequest - If the (subpixel) disparity image does 00990 // not match the current resolution. 00991 // 00992 // Remarks: 00993 // Invalid points will be assigned the value of (0,0,0) in the returned image. 00994 // 00995 // See Also: 00996 // triclopsDestroyImage3d(), triclopsCreateImage3d(), 00997 // triclopsExtractImage3d() 00998 // 00999 TriclopsError 01000 triclopsExtractWorldImage3d( TriclopsContext context, 01001 TriclopsImage3d* pimage ); 01002 01003 01004 #ifdef __cplusplus 01005 } 01006 #endif 01007 01008 #endif // #ifndef TRICLOPS3D_H