Point Grey Research Triclops只能讀取1幀

我正在使用Point Grey Research BumbleBee 2相機及其SDK。我有這個循環來連續抓幀，但它不起作用。它抓住第一幀確定，但triclopsGetImage（）似乎並沒有更新refImage（R | L）的內容，因爲所顯示的圖像僅僅是第一幀...任何人都有使用Point Gray相機或triclops SDK的經驗？Point Grey Research Triclops只能讀取1幀

//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; 
    }

編輯

好吧，這是不以任何方式優雅，但我認爲它幫助。即使這樣做，我只能得到第一幀的內容。我在想，無論是cv :: Mat leftIm和rightIm都在保持數據，而不是正在更新或有任何錯誤的triclops。

TriclopsContext triclops;

從它說頭文件「TriclopsContext是指向維護需要將Triclops庫中的所有圖像和簿記信息的內部結構，它是所有參數的容器」

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; 
    }

來源

2012-10-17 Oliver9523

什麼是'triclopsGetImage'返回？ –

te從triclops返回teImage報告一個0，表示它工作正常。標記錯誤的非零值。 – Oliver9523

如果你看一下在Triclops SDK文件夾的例子就說明他們的計劃獲得圖像之前調用以下方法：

error = triclopsPreprocess(context, &inputData); 
error = triclopsStereo(context);

您可能需要在循環結束時調用這些函數以通知相機計算下一幀的差異。

來源

2012-10-25 14:50:03

Point Grey Research Triclops只能讀取1幀

回答

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