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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: triclopsvalidation.h,v 2.2 2007/11/30 00:43:03 soowei Exp $ 00051 //============================================================================= 00052 #ifndef TRICLOPSVALIDATION_H 00053 #define TRICLOPSVALIDATION_H 00054 00055 //============================================================================= 00056 // 00057 // This file defines the API for Stereo Validation methods 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 //============================================================================= 00084 // Enumerations 00085 //============================================================================= 00086 00087 //============================================================================= 00088 // Types 00089 //============================================================================= 00090 00091 //============================================================================= 00092 // Function Prototypes 00093 //============================================================================= 00094 00095 //============================================================================= 00096 // Validation Support 00097 //============================================================================= 00098 // 00099 // Group = Validation Support 00100 00101 // 00102 // Name: triclopsSetTextureValidation 00103 // 00104 // Synopsis: 00105 // Turns texture validation on or off. 00106 // 00107 // Input: 00108 // context - The context. 00109 // on - Texture validation flag. 00110 // 00111 // Returns: 00112 // TriclopsErrorOk - The operation succeeded. 00113 // InvalidContext - The input context was invalid. 00114 // 00115 // Description: 00116 // Sets the context texture validation flag. When set to true, 00117 // texture-based validation is enabled. Pixels that do not pass 00118 // the validation test will be marked with the texture validation 00119 // mapping value in the disparity image. 00120 // 00121 // See Also: 00122 // triclopsGetTextureValidation() 00123 // 00124 TriclopsError 00125 triclopsSetTextureValidation( const TriclopsContext context, 00126 TriclopsBool on ); 00127 00128 // 00129 // Name: triclopsGetTextureValidation 00130 // 00131 // Synopsis: 00132 // Retrieves the state of the texture validation flag. 00133 // 00134 // Input: 00135 // context - The context. 00136 // 00137 // Output: 00138 // on - Container that receives the texture validation flag value. 00139 // 00140 // Returns: 00141 // TriclopsErrorOk - The operation succeeded. 00142 // InvalidContext - The input context was invalid. 00143 // 00144 // See Also: 00145 // TriclopsSetTextureValidation() 00146 // 00147 TriclopsError 00148 triclopsGetTextureValidation( const TriclopsContext context, 00149 TriclopsBool* on ); 00150 00151 // 00152 // Name: triclopsSetTextureValidationThreshold 00153 // 00154 // Synopsis: 00155 // Sets the texture validation threshold. 00156 // 00157 // Input: 00158 // context - The context 00159 // value - The new texture validation threshold. 00160 // 00161 // Returns: 00162 // TriclopsErrorOk - The operation succeeded. 00163 // InvalidContext - The input context was invalid. 00164 // 00165 // Description: 00166 // Sets the texture validation threshold. This threshold allows one 00167 // to tune the texture-based rejection of pixels. Values range from 00168 // 0.0 (no rejection) to 128.0 (complete rejection) but good operating 00169 // range is between 0.0 and 2.0. 00170 // 00171 // See Also: 00172 // TriclopsGetTextureValidationThreshold() 00173 // 00174 TriclopsError 00175 triclopsSetTextureValidationThreshold( TriclopsContext context, 00176 float value ); 00177 00178 // 00179 // Name: triclopsGetTextureValidationThreshold 00180 // 00181 // Synopsis: 00182 // Retrieves the texture validation threshold. 00183 // 00184 // Input: 00185 // context - The context. 00186 // 00187 // Output: 00188 // value - The location for the retrieved threshold. 00189 // 00190 // Returns: 00191 // TriclopsErrorOk - The operation succeeded. 00192 // InvalidContext - The input context was invalid. 00193 // 00194 // See Also: 00195 // TriclopsSetTextureValidationThreshold() 00196 // 00197 TriclopsError 00198 triclopsGetTextureValidationThreshold( const TriclopsContext context, 00199 float* value ); 00200 00201 // 00202 // Name: triclopsSetTextureValidationMapping 00203 // 00204 // Description: 00205 // Sets the value that appears in the disparity image for pixels that 00206 // fail texture validation. 00207 // 00208 // Input: 00209 // context - The TriclopsContext to set the texture validation mapping for. 00210 // value - The new value to map invalid pixels to. The range is from 00211 // 0 to 255. 00212 // 00213 // Returns: 00214 // TriclopsErrorOk - Upon the successful completion of the operation. 00215 // 00216 TriclopsError 00217 triclopsSetTextureValidationMapping( TriclopsContext context, 00218 unsigned char value ); 00219 00220 // 00221 // Name: triclopsGetTextureValidationMapping 00222 // 00223 // Description: 00224 // Gets the value that appears in the disparity image for pixels 00225 // that fail texture validation. 00226 // 00227 // Input: 00228 // context - The TriclopsContext to get the texture validation mapping from. 00229 // 00230 // Output: 00231 // value - The current texture validation mapping setting. 00232 // 00233 // Returns: 00234 // TriclopsErrorOk - Upon the successful completion of the operation. 00235 // 00236 TriclopsError 00237 triclopsGetTextureValidationMapping( const TriclopsContext context, 00238 unsigned char* value ); 00239 00240 // 00241 // Name: triclopsSetUniquenessValidation 00242 // 00243 // Synopsis: 00244 // Turns uniqueness validation on or off. 00245 // 00246 // Input: 00247 // context - The context. 00248 // on - A Boolean value indicating whether validation is on or off. 00249 // 00250 // Returns: 00251 // TriclopsErrorOk - The operation succeeded. 00252 // InvalidContext - The input context was invalid. 00253 // 00254 // Description: 00255 // Turns uniqueness validation on or off. Uniqueness validation verifies 00256 // that the match of a given pixel to its corresponding pixels in the top 00257 // and left images is unique enough to be considered the definite correct 00258 // match. If pixels at other disparities have almost as good matching to the 00259 // given pixel as the best disparity, the pixel can be rejected as an 00260 // unconfident match. 00261 // 00262 // See Also: 00263 // TriclopsGetUniquenessValidation() 00264 // 00265 TriclopsError 00266 triclopsSetUniquenessValidation( TriclopsContext context, 00267 TriclopsBool on ); 00268 00269 // 00270 // Name: triclopsGetUniquenessValidation 00271 // 00272 // Synopsis: 00273 // Retrieves the state of the uniqueness validation 00274 // 00275 // Input: 00276 // context - The context. 00277 // 00278 // Output: 00279 // on - A pointer to a Boolean. 00280 // 00281 // Returns: 00282 // TriclopsErrorOk - The operation succeeded. 00283 // InvalidContext - The input context was invalid. 00284 // 00285 // See Also: 00286 // TriclopsSetUniquenessValidation() 00287 // 00288 TriclopsError 00289 triclopsGetUniquenessValidation( const TriclopsContext context, 00290 TriclopsBool* on ); 00291 00292 // 00293 // Name: triclopsSetUniquenessValidationThreshold 00294 // 00295 // Synopsis: 00296 // Sets the uniqueness validation threshold. 00297 // 00298 // Input: 00299 // context - The context. 00300 // value - A float indicating the new threshold. 00301 // 00302 // Returns: 00303 // TriclopsErrorOk - The operation succeeded. 00304 // InvalidContext - The input context was invalid. 00305 // 00306 // Description: 00307 // This function sets the uniqueness matching criteria threshold. 00308 // This value can range from 0.0 to 10.0. The larger the number, 00309 // the less rejection occurs. Common operating ranges are between 00310 // 0.5 and 3.0. 00311 // 00312 // See Also: 00313 // TriclopsGetUniquenessValidationThreshold() 00314 // 00315 TriclopsError 00316 triclopsSetUniquenessValidationThreshold( TriclopsContext context, 00317 float value ); 00318 00319 // 00320 // Name: triclopsGetUniquenessValidationThreshold 00321 // 00322 // Synopsis: 00323 // Retrieves the uniqueness validation threshold. 00324 // 00325 // Input: 00326 // context - The context. 00327 // 00328 // Output: 00329 // value - A pointer to a float indicating the current threshold. 00330 // 00331 // Returns: 00332 // TriclopsErrorOk - The operation succeeded. 00333 // InvalidContext - The input context was invalid. 00334 // 00335 // See Also: 00336 // TriclopsSetUniquenessThreshold() 00337 // 00338 TriclopsError 00339 triclopsGetUniquenessValidationThreshold( const TriclopsContext context, 00340 float* value ); 00341 00342 // 00343 // Name: triclopsSetUniquenessValidationMapping 00344 // 00345 // Synopsis: 00346 // Sets the value that appears in the disparity image for pixels 00347 // that fail uniqueness validation. 00348 // 00349 // Input: 00350 // context - The context. 00351 // value - The value to which failing pixels are mapped. 00352 // 00353 // Returns: 00354 // TriclopsErrorOk - The operation succeeded. 00355 // InvalidContext - The input context was invalid. 00356 // 00357 // Description: 00358 // Sets the unique matching validation mapping value. This is the value that 00359 // is assigned to pixels in the disparity image that fail the uniqueness 00360 // validation test. The range is between 0 and 255. 00361 // 00362 // See Also: 00363 // TriclopsGetUniquenessValidationMapping() 00364 // 00365 TriclopsError 00366 triclopsSetUniquenessValidationMapping( TriclopsContext context, 00367 unsigned char value ); 00368 00369 // 00370 // Name: triclopsGetUniquenessValidationMapping 00371 // 00372 // Synopsis: 00373 // Retrieves the value that appears in the disparity image for pixels 00374 // that fail uniqueness validation. 00375 // 00376 // Input: 00377 // context - The context. 00378 // 00379 // Output: 00380 // value - A pointer to an unsigned char that will contain the current value 00381 // of the mapping. 00382 // 00383 // Returns: 00384 // TriclopsErrorOk - The operation succeeded. 00385 // InvalidContext - The input context was invalid. 00386 // 00387 // See Also: 00388 // TriclopsSetUniquenessValidationMapping() 00389 // 00390 TriclopsError 00391 triclopsGetUniquenessValidationMapping( const TriclopsContext context, 00392 unsigned char* value ); 00393 00394 // 00395 // Name: triclopsSetBackForthValidation 00396 // 00397 // Synopsis: 00398 // Enables or disables back-forth validation. 00399 // 00400 // Input: 00401 // context - TriclopsContext for the operation. 00402 // on - A Boolean flag indicating if back-forth validation should be enabled 00403 // or disabled. 00404 // 00405 // Returns: 00406 // TriclopsErrorOk - Operation successful. 00407 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00408 // 00409 // Description: 00410 // This function is used to enable or disable back-forth validation. 00411 // 00412 // See Also: 00413 // triclopsGetSurfaceValidation () 00414 // 00415 TriclopsError 00416 triclopsSetBackForthValidation( TriclopsContext context, 00417 TriclopsBool on ); 00418 // 00419 // Name: triclopsGetBackForthValidation 00420 // 00421 // Synopsis: 00422 // Gets the current back-forth validation setting. 00423 // 00424 // Input: 00425 // context - TriclopsContext for the operation. 00426 // 00427 // Output: 00428 // on - A pointer for the returned value of the current setting of the 00429 // back-forth validation flag. 00430 // 00431 // Returns: 00432 // TriclopsErrorOk - Operation successful. 00433 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00434 // 00435 // Description: 00436 // This function is used to obtain the current setting of back-forth validation. 00437 // 00438 // See Also: 00439 // triclopsSetBackForthValidation () 00440 // 00441 TriclopsError 00442 triclopsGetBackForthValidation( const TriclopsContext context, 00443 TriclopsBool *on ); 00444 00445 // 00446 // Name: triclopsSetBackForthValidationMapping 00447 // 00448 // Synopsis: 00449 // Sets the value that appears in the disparity image for pixels 00450 // that fail back-forth validation. 00451 // 00452 // Input: 00453 // context - The context. 00454 // value - The value to which failing pixels are mapped. 00455 // 00456 // Returns: 00457 // TriclopsErrorOk - The operation succeeded. 00458 // InvalidContext - The input context was invalid. 00459 // 00460 // Description: 00461 // Sets the back-forth validation mapping value. This is the value that 00462 // is assigned to pixels in the disparity image that fail the back-forth 00463 // validation test. The range is between 0 and 255. 00464 // 00465 // See Also: 00466 // triclopsGetBackForthValidationMapping() 00467 // 00468 TriclopsError 00469 triclopsSetBackForthValidationMapping( TriclopsContext context, 00470 unsigned char value ); 00471 00472 // 00473 // Name: triclopsGetBackForthValidationMapping 00474 // 00475 // Synopsis: 00476 // Retrieves the back-forth validation threshold. 00477 // 00478 // Input: 00479 // context - The context. 00480 // 00481 // Output: 00482 // value - A pointer that will return the current value of the back-forth 00483 // validation mapping parameter. 00484 // 00485 // Returns: 00486 // TriclopsErrorOk - The operation succeeded. 00487 // InvalidContext - The input context was invalid. 00488 // 00489 // See Also: 00490 // triclopsSetBackForthValidationMapping() 00491 // 00492 TriclopsError 00493 triclopsGetBackForthValidationMapping( const TriclopsContext context, 00494 unsigned char *value ); 00495 00496 // 00497 // Name: triclopsSetSurfaceValidation 00498 // 00499 // Synopsis: 00500 // Enables or disables surface validation. 00501 // 00502 // Input: 00503 // context - TriclopsContext for the operation. 00504 // on - A Boolean flag indicating if surface validation should be enabled 00505 // or disabled. 00506 // 00507 // Returns: 00508 // TriclopsErrorOk - Operation successful. 00509 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00510 // 00511 // Description: 00512 // This function is used to enable or disable surface validation. 00513 // 00514 TriclopsError 00515 triclopsSetSurfaceValidation( TriclopsContext context, 00516 TriclopsBool on ); 00517 00518 // 00519 // Name: triclopsGetSurfaceValidation 00520 // 00521 // Synopsis: 00522 // Gets the current surface validation setting. 00523 // 00524 // Input: 00525 // context - TriclopsContext for the operation. 00526 // 00527 // Output: 00528 // on - A pointer for the returned value of the current setting of the 00529 // surface validation flag. 00530 // 00531 // Returns: 00532 // TriclopsErrorOk - Operation successful. 00533 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00534 // 00535 // Description: 00536 // This function is used to obtain the current setting of surface validation. 00537 // 00538 // See Also: 00539 // triclopsSetSurfaceValidation () 00540 // 00541 TriclopsError 00542 triclopsGetSurfaceValidation( const TriclopsContext context, 00543 TriclopsBool* on ); 00544 00545 00546 // 00547 // Name: triclopsSetSurfaceValidationSize 00548 // 00549 // Synopsis: 00550 // Sets the minimum number of pixels a surface can cover and still be 00551 // considered valid. 00552 // 00553 // Input: 00554 // context - TriclopsContext for the operation. 00555 // size - The minimum number of pixels a surface can cover and still be 00556 // considered valid. 00557 // 00558 // Returns: 00559 // TriclopsErrorOk - Operation successful. 00560 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00561 // TriclopsErrorInvalidSetting - A negative size was given. 00562 // 00563 // Description: 00564 // This function is used to set the minimum number of pixels a surface can 00565 // cover and still be considered valid. The larger the number is, the fewer 00566 // surfaces will be accepted. The lower the number is, the more surfaces will 00567 // be accepted. Common parameter values range from 100 to 500, depending on 00568 // image resolution. 00569 // 00570 TriclopsError 00571 triclopsSetSurfaceValidationSize( TriclopsContext context, 00572 int size ); 00573 00574 // 00575 // Name: triclopsGetSurfaceValidationSize 00576 // 00577 // Synopsis: 00578 // Retrieves the current validation size. 00579 // 00580 // Input: 00581 // context - TriclopsContext for the operation. 00582 // 00583 // Output: 00584 // size - A pointer that returns the current value of the size parameter. 00585 // 00586 // Returns: 00587 // TriclopsErrorOk - Operation Successful. 00588 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00589 // 00590 // Description: 00591 // This function is used to extract the surface size parameter for surface 00592 // validation. 00593 // 00594 // See Also: 00595 // triclopsSetSurfaceValidationSize 00596 // 00597 TriclopsError 00598 triclopsGetSurfaceValidationSize( const TriclopsContext context, 00599 int* size ); 00600 00601 // 00602 // Name: triclopsSetSurfaceValidationDifference 00603 // 00604 // Synopsis: 00605 // Set the maximum disparity difference between two adjacent pixels that will 00606 // still allow the two pixels to be considered part of the same surface. 00607 // 00608 // Input: 00609 // context - TriclopsContext for the operation. 00610 // diff - The maximum disparity difference between two adjacent pixels 00611 // that will still allow the two pixels to be considered part of 00612 // the same surface. 00613 // 00614 // Returns: 00615 // TriclopsErrorOk - Operation successful. 00616 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00617 // TriclopsErrorInvalidSetting - A negative difference was given. 00618 // 00619 TriclopsError 00620 triclopsSetSurfaceValidationDifference( TriclopsContext context, 00621 float diff ); 00622 00623 // 00624 // Name: triclopsGetSurfaceValidationDifference 00625 // 00626 // Synopsis: 00627 // Returns the maximum disparity difference between two adjacent pixels that 00628 // will still allow the two pixels to be considered part of the same surface. 00629 // 00630 // Input: 00631 // context - TriclopsContext for the operation. 00632 // 00633 // Output: 00634 // diff - A pointer that returns the current value of the surface validation 00635 // difference parameter. 00636 // 00637 // Returns: 00638 // TriclopsErrorOk - Operation successful. 00639 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00640 // 00641 TriclopsError 00642 triclopsGetSurfaceValidationDifference( const TriclopsContext context, 00643 float* diff ); 00644 00645 // 00646 // Name: triclopsSetSurfaceValidationMapping 00647 // 00648 // Synopsis: 00649 // Sets the current surface validation mapping. 00650 // 00651 // Input: 00652 // context - TriclopsContext for the operation. 00653 // value - Mapping value for pixels that fail surface validation. The range 00654 // is between 0 and 255. 00655 // 00656 // Returns: 00657 // TriclopsErrorOk - Operation successful. 00658 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext 00659 // 00660 // Description: 00661 // Surface validation is a noise rejection method. By setting the mapping 00662 // value to 0x??, an invalid pixel that failed this validation step will be 00663 // marked 0xFF??. 00664 // 00665 TriclopsError 00666 triclopsSetSurfaceValidationMapping( TriclopsContext context, 00667 unsigned char value ); 00668 00669 // 00670 // Name: triclopsGetSurfaceValidationMapping 00671 // 00672 // Synopsis: 00673 // Retrieves the current surface validation mapping. 00674 // 00675 // Input: 00676 // context - TriclopsContext for the operation. 00677 // 00678 // Output: 00679 // value - A pointer that will return the current value of the surface 00680 // validation mapping parameter. 00681 // 00682 // Returns: 00683 // TriclopsErrorOk - Operation successful. 00684 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00685 // 00686 // Description: 00687 // This function returns the current setting for the surface validation 00688 // parameter. 00689 // 00690 TriclopsError 00691 triclopsGetSurfaceValidationMapping( const TriclopsContext context, 00692 unsigned char* value ); 00693 00694 // 00695 // Name: triclopsSetStrictSubpixelValidation 00696 // 00697 // Synopsis: 00698 // Sets the state of the subpixel validation setting. 00699 // 00700 // Input: 00701 // context - The context 00702 // on - A Boolean value indicating whether validation is on or off. 00703 // 00704 // Returns: 00705 // TriclopsErrorOk - The operation succeeded. 00706 // InvalidContext - The input context was invalid. 00707 // 00708 // Description: 00709 // The strict subpixel validation option is used when the subpixel 00710 // interpolation flag is turned on. Strict subpixel validation enables 00711 // a more restrictive validation method for subpixel validation. With 00712 // strict subpixel validation on, there will be less data in the output 00713 // image, but it will be more reliable. 00714 // 00715 // See Also: 00716 // triclopsGetStrictSubpixelValidation(), triclopsSetSubpixelInterpolation(), 00717 // triclopsGetSubpixelInterpolation() 00718 // 00719 TriclopsError 00720 triclopsSetStrictSubpixelValidation( TriclopsContext context, 00721 TriclopsBool on ); 00722 00723 // 00724 // Name: triclopsGetStrictSubpixelValidation 00725 // 00726 // Synopsis: 00727 // Retrieves the value that appears in the disparity image for pixels that 00728 // fail uniqueness validation. 00729 // 00730 // Input: 00731 // context - The context. 00732 // 00733 // Output: 00734 // on - A pointer to a Boolean that will contain the current setting. 00735 // 00736 // Returns: 00737 // TriclopsErrorOk - The operation succeeded. 00738 // InvalidContext - The input context was invalid. 00739 // 00740 // See Also: 00741 // triclopsSetStrictSubpixelValidation(), triclopsSetSubpixelInterpolation(), 00742 // triclopsGetSubpixelInterpolation() 00743 // 00744 TriclopsError 00745 triclopsGetStrictSubpixelValidation( TriclopsContext context, 00746 TriclopsBool* on ); 00747 00748 // 00749 // Name: triclopsSetSubpixelValidationMapping 00750 // 00751 // Synopsis: 00752 // Sets the value that appears in the disparity image for pixels that fail 00753 // subpixel validation. 00754 // 00755 // Input: 00756 // context - TriclopsContext for the operation. 00757 // value - The new subpixel validation mapping value. The range is between 00758 // 0 and 255. 00759 // 00760 // Returns: 00761 // TriclopsErrorOk - The operation succeeded. 00762 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00763 // 00764 // Description: 00765 // Strict subpixel validation verifies that the disparity values contribute 00766 // to the subpixel interpolation make sense. By setting the mapping value to 00767 // 0x??, an invalid pixel that failed this validation step will be marked 00768 // 0xFF??. 00769 // 00770 TriclopsError 00771 triclopsSetSubpixelValidationMapping( TriclopsContext context, 00772 unsigned char value ); 00773 00774 // 00775 // Name: triclopsGetSubpixelValidationMapping 00776 // 00777 // Synopsis: 00778 // Retrieves the value that appears in the disparity image for pixels that 00779 // fail subpixel validation. 00780 // 00781 // Input: 00782 // context - TriclopsContext for the operation. 00783 // 00784 // Output: 00785 // value - A pointer that will hold the subpixel validation mapping value. 00786 // 00787 // Returns: 00788 // TriclopsErrorOk - Operation successful. 00789 // TriclopsErrorInvalidContext - Context is not a valid TriclopsContext. 00790 // 00791 // See Also: 00792 // triclopsSetSubpixelValidationMapping 00793 // 00794 TriclopsError 00795 triclopsGetSubpixelValidationMapping( const TriclopsContext context, 00796 unsigned char* value ); 00797 00798 00799 #ifdef __cplusplus 00800 } 00801 #endif 00802 00803 #endif // #ifndef TRICLOPSVALIDATION_H