/home/laradmin/lar/sensors/camera/xb3/triclops/include/triclopsstereo.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: triclopsstereo.h,v 2.3 2010/06/21 18:46:08 arturp Exp $ 00051 //============================================================================= 00052 #ifndef TRICLOPSSTEREO_H 00053 #define TRICLOPSSTEREO_H 00054 00055 //============================================================================= 00056 // 00057 // This file defines the API for Stereo related functions in 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 // Enumerations 00084 //============================================================================= 00085 00086 //============================================================================= 00087 // Types 00088 //============================================================================= 00089 // 00090 // Group = Types 00091 00092 // 00093 // Name: TriclopsStereoQuality 00094 // 00095 // Description: 00096 // This enumerated type identifies stereo algorithm used 00097 // to compute the disparity images. In general, the higher quality of algorithm 00098 // chosen, the more processing time required to compute the result. 00099 // 00100 typedef enum TriclopsStereoQuality 00101 { 00102 TriStereoQlty_STANDARD, 00103 TriStereoQlty_ENHANCED 00104 } TriclopsStereoQuality; 00105 00106 // 00107 // Name: TriclopsROI 00108 // 00109 // Description: 00110 // This structure describes a Region Of Interest for selective processing 00111 // of the input images. 00112 // 00113 typedef struct TriclopsROI 00114 { 00115 // The row value for the upper-left corner of the region of interest. 00116 int row; 00117 // The column value for the upper-left corner of the region of interest. 00118 int col; 00119 // The height of the region of interest. 00120 int nrows; 00121 // The width of the region of interest. 00122 int ncols; 00123 00124 } TriclopsROI; 00125 00126 //============================================================================= 00127 // Function Prototypes 00128 //============================================================================= 00129 00130 //============================================================================= 00131 // Stereo 00132 //============================================================================= 00133 // 00134 // Group = Stereo 00135 00136 // 00137 // Name: triclopsGetROIs 00138 // 00139 // Synopsis: 00140 // Retrieves a handle to an array of Regions Of Interest. 00141 // 00142 // Input: 00143 // context - The context. 00144 // 00145 // Output: 00146 // rois - A pointer to a 1D array of ROI structures. 00147 // maxROIs - The maximum number of ROIs allowed. 00148 // 00149 // Returns: 00150 // TriclopsErrorOk - The operation succeeded. 00151 // InvalidContext - The input context was invalid. 00152 // 00153 // Description: 00154 // This function returns a pointer to an array of region of interest (ROI) 00155 // structures. The user may set requested region of interest boundaries in 00156 // this array. The Regions Of Interest that will be valid must begin with 00157 // the 0th element in the array and continue in a contiguous manner. After 00158 // having set the Regions Of Interest, the user must call 00159 // triclopsSetNumberOfROIs() to indicate to the stereo kernel how many ROIs 00160 // he/she wishes processed. Currently, ROIs are only applied during the 00161 // stereo processing, not during preprocessing. 00162 // 00163 // See Also: 00164 // triclopsSetNumberOfROIs(), triclopsStereo(), TriclopsROI 00165 // 00166 TriclopsError 00167 triclopsGetROIs( TriclopsContext context, 00168 TriclopsROI** rois, 00169 int* maxROIs ); 00170 00171 // 00172 // Name: triclopsSetNumberOfROIs 00173 // 00174 // Synopsis: 00175 // Sets the number of Regions Of Interest the user currently wants active. 00176 // 00177 // Input: 00178 // context - The context. 00179 // nrois - Number of ROIs. 00180 // 00181 // Returns: 00182 // TriclopsErrorOk - The operation succeeded. 00183 // InvalidContext - The input context was invalid. 00184 // InvalidSetting - Too many ROIs. 00185 // 00186 // Description: 00187 // This function indicates to the stereo kernel how many ROIs in the ROI array 00188 // will be processed. Before calling this function, the user must first call 00189 // triclopsGetROIs() and set up the ROIs he/she intends to use. If nrois is 00190 // set to 0, the entire image will be processed. This is the default setting. 00191 // 00192 // See Also: 00193 // triclopsGetROIs() 00194 // 00195 TriclopsError 00196 triclopsSetNumberOfROIs( TriclopsContext context, 00197 int nrois ); 00198 00199 00200 // 00201 // Name: triclopsGetMaxThreadCount 00202 // 00203 // Synopsis: 00204 // Retrieves the maximum number of threads used in multi-threaded calls 00205 // 00206 // Input: 00207 // context - The context. 00208 // 00209 // Output: 00210 // rois - A pointer to a 1D array of ROI structures. 00211 // maxROIs - The maximum number of ROIs allowed. 00212 // 00213 // Returns: 00214 // TriclopsErrorOk - The operation succeeded. 00215 // InvalidContext - The input context was invalid. 00216 // 00217 // Description: 00218 // This function returns the maximum number of threads allowed in multuthreaded 00219 // operations. 00220 // 00221 // See Also: 00222 // triclopsSetMaxThreadCount(), triclopsStereo() 00223 // 00224 TriclopsError 00225 triclopsGetMaxThreadCount( TriclopsContext context, int* maxThreadCount ); 00226 00227 // 00228 // Name: triclopsSetMaxThreadCount 00229 // 00230 // Synopsis: 00231 // Sets the maximum number of threads to use in multi-threaded operations 00232 // 00233 // Input: 00234 // context - The context. 00235 // nrois - maximum number of threads (minimum 1) 00236 // 00237 // Returns: 00238 // TriclopsErrorOk - The operation succeeded. 00239 // InvalidContext - The input context was invalid. 00240 // InvalidSetting - Invalid number passed in (less then 1). 00241 // InvalidRequest - the kernel is busy executing in the background 00242 // 00243 // Description: 00244 // This function indicates to the stereo kernel at what number to cap the number 00245 // of threads used in multi-threaded operations. If not set, the kernel will use 00246 // a default number based on the architecture of the machine and the expected 00247 // sppedup. 00248 // 00249 // See Also: 00250 // triclopsGetMaxThreadCount(), triclopsStereo() 00251 // 00252 TriclopsError 00253 triclopsSetMaxThreadCount( TriclopsContext context, int maxThreadCount ); 00254 00255 // 00256 // Name: triclopsSetEdgeCorrelation 00257 // 00258 // Synopsis: 00259 // Turns edge based correlation on or off. 00260 // 00261 // Input: 00262 // context - The context. 00263 // on - A Boolean value indicating whether correlation should be turned on 00264 // or off. 00265 // 00266 // Returns: 00267 // TriclopsErrorOk - The operation succeeded. 00268 // InvalidContext - The input context was invalid. 00269 // 00270 // Description: 00271 // Edge based correlation is required for texture and uniqueness 00272 // validation to be used. 00273 // 00274 // See Also: 00275 // triclopsGetEdgeCorrelation(), triclopsSetTextureValidation(), 00276 // triclopsSetUniquenessValidation() 00277 // 00278 TriclopsError 00279 triclopsSetEdgeCorrelation( TriclopsContext context, 00280 TriclopsBool on ); 00281 00282 // 00283 // Name: triclopsGetEdgeCorrelation 00284 // 00285 // Synopsis: 00286 // Retrieves the state of the edge based correlation flag. 00287 // 00288 // Input: 00289 // context - The context. 00290 // 00291 // Output: 00292 // on - A pointer to a Boolean that will contain the current setting. 00293 // 00294 // Returns: 00295 // TriclopsErrorOk - The operation succeeded. 00296 // InvalidContext - The input context was invalid. 00297 // 00298 // See Also: 00299 // triclopsSetEdgeCorrelation() 00300 // 00301 TriclopsError 00302 triclopsGetEdgeCorrelation( const TriclopsContext context, 00303 TriclopsBool* on ); 00304 00305 // 00306 // Name: triclopsSetEdgeMask 00307 // 00308 // Synopsis: 00309 // Sets the edge detection mask size. 00310 // 00311 // Input: 00312 // context - The context. 00313 // masksize - The new mask size, which is valid between 3 and 11. 00314 // 00315 // Returns: 00316 // TriclopsErrorOk - The operation succeeded. 00317 // InvalidContext - The input context was invalid. 00318 // 00319 // See Also: 00320 // triclopsGetEdgeMask() 00321 // 00322 TriclopsError 00323 triclopsSetEdgeMask( TriclopsContext context, 00324 int masksize ); 00325 00326 // 00327 // Name: triclopsGetEdgeMask 00328 // 00329 // Synopsis: 00330 // Retrieves the edge detection mask size. 00331 // 00332 // Input: 00333 // context - The context. 00334 // 00335 // Output: 00336 // masksize - A pointer to an integer that will contain the current mask size. 00337 // 00338 // Returns: 00339 // TriclopsErrorOk - The operation succeeded. 00340 // InvalidContext - The input context was invalid. 00341 // 00342 // See Also: 00343 // triclopsSetEdgeMask() 00344 // 00345 TriclopsError 00346 triclopsGetEdgeMask( const TriclopsContext context, 00347 int* masksize ); 00348 00349 // 00350 // Name: triclopsSetDoStereo 00351 // 00352 // Synopsis: 00353 // Turns stereo processing on or off. 00354 // 00355 // Input: 00356 // context - The context. 00357 // on - A Boolean indicating whether stereo processing should be turned on 00358 // or off. 00359 // 00360 // Returns: 00361 // TriclopsErrorOk - The operation succeeded. 00362 // InvalidContext - The input context was invalid. 00363 // 00364 // See Also: 00365 // triclopsGetDoStereo(), triclopsSetStereoQuality(), triclopsGetStereoQuality() 00366 // 00367 TriclopsError 00368 triclopsSetDoStereo( TriclopsContext context, 00369 TriclopsBool on ); 00370 00371 // 00372 // Name: triclopsGetDoStereo 00373 // 00374 // Synopsis: 00375 // Retrieves the state of the stereo processing. 00376 // 00377 // Input: 00378 // context - The context. 00379 // 00380 // Output: 00381 // on - A pointer to a Boolean that will store the current setting. 00382 // 00383 // Returns: 00384 // TriclopsErrorOk - The operation succeeded. 00385 // InvalidContext - The input context was invalid. 00386 // 00387 // See Also: 00388 // triclopsSetDoStereo(), triclopsSetStereoQuality(), triclopsGetStereoQuality() 00389 // 00390 TriclopsError 00391 triclopsGetDoStereo( const TriclopsContext context, 00392 TriclopsBool* on ); 00393 00394 // 00395 // Name: triclopsSetStereoQuality 00396 // 00397 // Description: 00398 // Sets the quality of the stereo algorithm to use during stereo processing. 00399 // Higher-quality algorithms will generally require more processing time, but 00400 // give more accurate and/or more complete results. Currently available are 00401 // TriStereoQlty_STANDARD, our classic stereo algorithm, and 00402 // TriStereoQlty_ENHANCED, which provides a more reliable sub-pixel disparity 00403 // estimate. 00404 // 00405 // Input: 00406 // context - The current TriclopsContext. 00407 // quality - The desired quality of the stereo algorithm to use 00408 // 00409 // Returns: 00410 // TriclopsErrorOk - The operation succeeded. 00411 // TriclopsErrorInvalidContext - If the context is invalid. 00412 // 00413 // See Also: 00414 // triclopsGetStereoAlgQuality() 00415 // 00416 TriclopsError 00417 triclopsSetStereoQuality(TriclopsContext context, TriclopsStereoQuality quality); 00418 00419 // 00420 // Name: triclopsGetStereoQuality 00421 // 00422 // Description: 00423 // Gets the quality of the stereo algorithm currently in use for stereo 00424 // processing. 00425 // 00426 // Input: 00427 // context - The current TriclopsContext. 00428 // quality - The quality of the stereo algorithm currently in use. 00429 // 00430 // Returns: 00431 // TriclopsErrorOk - The operation succeeded. 00432 // TriclopsErrorInvalidContext - If the context is invalid. 00433 // 00434 // See Also: 00435 // triclopsSetStereoAlgQuality() 00436 // 00437 TriclopsError 00438 triclopsGetStereoQuality(TriclopsContext context, TriclopsStereoQuality* quality); 00439 00440 // 00441 // Name: triclopsSetSubpixelInterpolation 00442 // 00443 // Synopsis: 00444 // Turns subpixel interpolation stereo improvements on or off. 00445 // 00446 // Input: 00447 // context - The context. 00448 // on - A Boolean indicating whether it should be on or off. 00449 // 00450 // Returns: 00451 // TriclopsErrorOk - The operation succeeded. 00452 // InvalidContext - The input context was invalid. 00453 // 00454 // See Also: 00455 // triclopsGetSubpixelInterpolation(), triclopsSetStrictSubpixelValidation() 00456 // 00457 TriclopsError 00458 triclopsSetSubpixelInterpolation( TriclopsContext context, 00459 TriclopsBool on ); 00460 00461 // 00462 // Name: triclopsGetSubpixelInterpolation 00463 // 00464 // Synopsis: 00465 // Retrieves the state of the subpixel interpolation feature. 00466 // 00467 // Input: 00468 // context - The context. 00469 // 00470 // Output: 00471 // on - A pointer to a Boolean that will store the current setting. 00472 // 00473 // Returns: 00474 // TriclopsErrorOk - The operation succeeded. 00475 // InvalidContext - The specified context was invalid. 00476 // 00477 // See Also 00478 // triclopsSetSubpixelInterpolation(), triclopsSetStrictSubpixelValidation() 00479 // 00480 TriclopsError 00481 triclopsGetSubpixelInterpolation( const TriclopsContext context, 00482 TriclopsBool* on ); 00483 00484 // 00485 // Name: triclopsSetDisparity 00486 // 00487 // Synopsis: 00488 // Sets the disparity range for stereo processing. Currently, the range 00489 // must be such that (maxDisparity-minDisparity<=240) and (maxDisparity<=1024). 00490 // Note that a side-effect of setting maxDisparity > 240 is that the disparity 00491 // offset is set to maxDisparity-240. 00492 // 00493 // Input: 00494 // context - The context. 00495 // minDisparity - The disparity range minimum. 00496 // maxDisparity - The disparity range maximum. 00497 // 00498 // Returns: 00499 // TriclopsErrorOk - The operation succeeded. 00500 // InvalidContext - The input context was invalid. 00501 // 00502 // See Also: 00503 // triclopsGetDisparityOffset. 00504 // 00505 TriclopsError 00506 triclopsSetDisparity( TriclopsContext context, 00507 int minDisparity, 00508 int maxDisparity ); 00509 00510 // 00511 // Name: triclopsGetDisparity 00512 // 00513 // Synopsis: 00514 // Retrieves the disparity range from the given context. 00515 // 00516 // Input: 00517 // context - The context 00518 // 00519 // Output: 00520 // minDisparity - A pointer to an integer that will store the current value. 00521 // maxDisparity - A pointer to an integer that will store the current value. 00522 // 00523 // Returns: 00524 // TriclopsErrorOk - The operation succeeded. 00525 // InvalidContext - The input context was invalid. 00526 // 00527 // See Also: 00528 // triclopsGetDisparityOffset. 00529 // 00530 TriclopsError 00531 triclopsGetDisparity( const TriclopsContext context, 00532 int* minDisparity, 00533 int* maxDisparity ); 00534 00535 // 00536 // Name: triclopsGetDisparityOffset 00537 // 00538 // Synopsis: 00539 // Retrieves the disparity offset from the given context. Adding the disparity 00540 // offset to a valid disparity value from the disparity image gives the 00541 // true disparity value. The disparity offset is set automatically when the 00542 // disparity range is set using triclopsSetDisparity, and is equal to 00543 // MAX( 0, maxDisparity-240). The disparity offset allows the disparity range, 00544 // (which has a maximum extent of 240) to be shifted up away from zero, so 00545 // that objects very close to the camera may be imaged. 00546 // 00547 // Input: 00548 // context - The context 00549 // 00550 // Output: 00551 // nDisparityOffset - A pointer to an integer that will store the current value. 00552 // 00553 // Returns: 00554 // TriclopsErrorOk - The operation succeeded. 00555 // InvalidContext - The input context was invalid. 00556 // 00557 TriclopsError 00558 triclopsGetDisparityOffset( const TriclopsContext context, 00559 int* nDisparityOffset ); 00560 00561 // 00562 // Name: triclopsSetDisparityMappingOn 00563 // 00564 // Synopsis: 00565 // Enables or disables disparity mapping. 00566 // 00567 // Input: 00568 // context - TriclopsContext for the operation. 00569 // on - A Boolean flag indicating if the mapping should be on or off. 00570 // 00571 // Returns: 00572 // TriclopsErrorOk - Operation successful. 00573 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00574 // 00575 // Description: 00576 // This function is used to enable or disable disparity mapping. See the 00577 // comments section on this subject in Chapter 7 in the Triclops manual for 00578 // why disparity mapping can cause trouble. 00579 // 00580 // 00581 TriclopsError 00582 triclopsSetDisparityMappingOn( TriclopsContext context, 00583 TriclopsBool on ); 00584 00585 // 00586 // Name: triclopsGetDisparityMappingOn 00587 // 00588 // Synopsis: 00589 // Retrieves the current setting. 00590 // 00591 // Input: 00592 // context - TriclopsContext for the operation. 00593 // 00594 // Output: 00595 // on - A pointer that will contain the current value of this flag. 00596 // 00597 // Returns: 00598 // TriclopsErrorOk - Operation successful. 00599 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00600 // 00601 // Description: 00602 // This function is used to extract the current disparity mapping setting. 00603 // 00604 // See Also: 00605 // triclopsSetDisparityMappingOn. 00606 // 00607 TriclopsError 00608 triclopsGetDisparityMappingOn( TriclopsContext context, 00609 TriclopsBool* on ); 00610 00611 // 00612 // Name: triclopsSetDisparityMapping 00613 // 00614 // Synopsis: 00615 // Sets the disparity range for stereo processing. 00616 // 00617 // Input: 00618 // context - The context. 00619 // minDisparity - The disparity range in the output disparity image minimum. 00620 // The range is between 0 and 255. 00621 // maxDisparity - The disparity range in the output disparity image maximum. 00622 // The range is between 0 and 255. 00623 // 00624 // Returns: 00625 // TriclopsErrorOk - The operation succeeded. 00626 // InvalidContext - The input context was invalid. 00627 // 00628 // Description: 00629 // This function sets the disparity mapping values. The disparity mapping 00630 // values control what range of pixels values appear in the output disparity 00631 // image. The true disparity ranges between the minimum and maximum values 00632 // set with triclopsSetDisparity(). The output image has its pixel values 00633 // linearly scaled from minimum => maximum disparity to minimum => maximum 00634 // disparity mapping. This is primarily used when one wishes to use a screen 00635 // display buffer as the disparity image buffer. Note: it is advisable to 00636 // set the disparity mapping to the exact values of the input disparities if 00637 // one is not using the screen buffer display feature. 00638 // 00639 // See Also: 00640 // triclopsGetDisparityMapping(), triclopsSetDisparity(), triclopsRCD8ToXYZ(), 00641 // triclopsRCD16ToXYZ(), triclopsRCDMappedToXYZ() 00642 // 00643 TriclopsError 00644 triclopsSetDisparityMapping( TriclopsContext context, 00645 unsigned char minDisparity, 00646 unsigned char maxDisparity ); 00647 00648 // 00649 // Name: triclopsGetDisparityMapping 00650 // 00651 // Synopsis: 00652 // Retrieves the disparity range from the given context. 00653 // 00654 // Input: 00655 // context - The context. 00656 // 00657 // Output: 00658 // minDisparity - The disparity range in the output disparity image minimum. 00659 // maxDisparity - The disparity range in the output disparity image maximum. 00660 // 00661 // Returns: 00662 // TriclopsErrorOk - The operation succeeded. 00663 // InvalidContext - The input context was invalid. 00664 // 00665 // See Also: 00666 // triclopsSetDisparityMapping(), triclopsSetDisparity() 00667 // 00668 TriclopsError 00669 triclopsGetDisparityMapping( const TriclopsContext context, 00670 unsigned char* minDisparity, 00671 unsigned char* maxDisparity ); 00672 00673 // 00674 // Name: triclopsSetStereoMask 00675 // 00676 // Synopsis: 00677 // Set the stereo correlation mask size. 00678 // 00679 // Input: 00680 // context - The context. 00681 // masksize - The new correlation mask size, which is valid between 1 and 15. 00682 // 00683 // Returns: 00684 // TriclopsErrorOk - The operation succeeded. 00685 // InvalidContext - The input context was invalid. 00686 // 00687 TriclopsError 00688 triclopsSetStereoMask( TriclopsContext context, 00689 int masksize ); 00690 00691 // 00692 // Name: triclopsSetAnyStereoMask 00693 // 00694 // Synopsis: 00695 // Allows the user to set stereomask to any size. 00696 // 00697 // Input: 00698 // context - TriclopsContext for the operation. 00699 // size - The size for a new stereo correlation mask. 00700 // 00701 // Returns: 00702 // TriclopsErrorOk - Operation successful. 00703 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00704 // TriclopsErrorInvalidSetting - A value of less than 1 00705 // 00706 // Description: 00707 // This function allows you to set a stereo correlation mask of any size. 00708 // There is a danger that an internal counter in the stereo correlation 00709 // engine may overflow if mask sizes over 15 are provided. Thus, the 00710 // current limit for triclopsSetStereoMask is 15. However, in practice, 00711 // much larger mask sizes can be used successfully. If an overflow results, 00712 // it may not affect the stereo result, and it will generally only happen for 00713 // pathological cases. Therefore, this function is provided as an 00714 // 'experimental' function to allow users to set any mask size they wish. 00715 // 00716 // See Also: 00717 // triclopsSetStereoMask() 00718 // 00719 TriclopsError 00720 triclopsSetAnyStereoMask( TriclopsContext context, 00721 int size ); 00722 00723 // 00724 // Name: triclopsGetStereoMask 00725 // 00726 // Synopsis: 00727 // Retrieves the stereo correlation mask size. 00728 // 00729 // Input: 00730 // context - The context. 00731 // 00732 // Output: 00733 // size - A pointer to an integer that will store the current value. 00734 // 00735 // Returns: 00736 // TriclopsErrorOk - The operation succeeded. 00737 // InvalidContext - The input context was invalid. 00738 // 00739 TriclopsError 00740 triclopsGetStereoMask( const TriclopsContext context, 00741 int* size ); 00742 00743 // 00744 // Name: triclopsStereo 00745 // 00746 // Synopsis: 00747 // Does stereo processing, validation, and subpixel interpolation, as 00748 // specified by parameters. 00749 // 00750 // Input: 00751 // context - The context. 00752 // 00753 // Returns: 00754 // TriclopsErrorOk - The operation succeeded. 00755 // BadOptions - There are some contradictory options set. 00756 // NotImplemented - The context camera configuration is not supported. 00757 // InvalidROI - A negative dimensioned ROI, or ROI with illegal starting 00758 // positions was inputted. Illegal starting position is a 00759 // upper/left corner that is closer to the right/bottom edge 00760 // of the image than the stereo mask size. 00761 // InvalidRequest - triclopsStereo called before triclopsPreprocess ever called. 00762 // 00763 // Description: 00764 // This function performs the stereo processing and validation, and generates 00765 // the internal image TriImg_DISPARITY. 00766 // 00767 // See Also: 00768 // triclopsPreprocessing(), triclopsSetDoStereo(), triclopsEdgeCorrelation(), 00769 // triclopsSetTextureValidation(), triclopsSetUniquenessValidation(), 00770 // triclopsGetROIs(), triclopsSetSubpixelInterpolation() 00771 // 00772 TriclopsError 00773 triclopsStereo( TriclopsContext context ); 00774 00775 #ifdef __cplusplus 00776 } 00777 #endif 00778 00779 #endif // #ifndef TRICLOPS_H