我正在使用 Point Gray Research BumbleBee 2 相机和他们的 SDK。我有这个循环来连续抓取帧,但它不起作用。它可以抓取第一帧,但 triclopsGetImage() 似乎没有更新 refImage(R|L) 的内容,因为显示的图像只是来自第一帧......任何人都有点灰色相机或 triclops SDK 的经验?
//There's more code above
int nframes = 20;
for (int frame = 0; frame < nframes ; frame++ ) {
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_RIGHT, &refImageR );
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_LEFT, &refImageL );
cv::Mat leftIm(cv::Mat::zeros(refImageR.nrows,refImageR.ncols,CV_8UC1));
cv::Mat rightIm(cv::Mat::zeros(refImageR.nrows,refImageR.ncols,CV_8UC1));
int counter = 0;
for (int row=0;row<refImageR.nrows;row++) {
for (int col=0;col<refImageR.ncols;col++) {
leftIm.at<uchar>(row,col) = refImageL.data[counter];
rightIm.at<uchar>(row,col) = refImageR.data[counter];
counter++;
}
}
imshow("LeftIm",leftIm);
imshow("RightIm",rightIm);
cv::waitKey(1000);
cout << "frame = " << frame << endl;
}
编辑
好的,这无论如何都不优雅,但我认为它有帮助。即使这样做,我也只能得到第一帧的内容。我在想 cv::Mat leftIm 和 rightIm 都在保留数据并且没有更新,或者 triclops 有问题。
TriclopsContext triclops;
从头文件中可以看出“TriclopsContext 是一个指向内部结构的指针,该结构维护 Triclops 库所需的所有图像和簿记信息。它是所有参数的容器”
for (int frame = 1; frame < nframes ; frame++ ) {
if (frame == 1) {
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_RIGHT, &refImageR1 );
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_LEFT, &refImageL1 );
} else if (frame == 2) {
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_RIGHT, &refImageR2 );
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_LEFT, &refImageL2 );
} else if (frame == 3) {
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_RIGHT, &refImageR3 );
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_LEFT, &refImageL3 );
} else if (frame == 4) {
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_RIGHT, &refImageR4 );
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_LEFT, &refImageL4 );
} else if (frame == 5) {
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_RIGHT, &refImageR5 );
te = triclopsGetImage( triclops, TriImg_RECTIFIED, TriCam_LEFT, &refImageL5 );
}
cv::Mat leftIm(cv::Mat::zeros(refImageR1.nrows,refImageR1.ncols,CV_8UC1));
cv::Mat rightIm(cv::Mat::zeros(refImageR1.nrows,refImageR1.ncols,CV_8UC1));
int counter = 0;
for (int row=0;row<refImageR1.nrows;row++) {
for (int col=0;col<refImageR1.ncols;col++) {
//leftIm.at<uchar>(row,col) = refImageL.data[counter];
//rightIm.at<uchar>(row,col) = refImageR.data[counter];
if (frame == 1) {
leftIm.at<uchar>(row,col) = refImageL1.data[counter];
rightIm.at<uchar>(row,col) = refImageR1.data[counter];
} else if (frame == 2) {
leftIm.at<uchar>(row,col) = refImageL2.data[counter];
rightIm.at<uchar>(row,col) = refImageR2.data[counter];
} else if (frame == 3) {
leftIm.at<uchar>(row,col) = refImageL3.data[counter];
rightIm.at<uchar>(row,col) = refImageR3.data[counter];
} else if (frame == 4) {
leftIm.at<uchar>(row,col) = refImageL4.data[counter];
rightIm.at<uchar>(row,col) = refImageR4.data[counter];
} else if (frame == 5) {
leftIm.at<uchar>(row,col) = refImageL5.data[counter];
rightIm.at<uchar>(row,col) = refImageR5.data[counter];
}
counter++;
}
}
imshow("LeftIm",leftIm);
imshow("RightIm",rightIm);
cv::waitKey(1000);
cout << "frame = " << frame << endl;
}