Triclops SDK
4.0.3.0
Typedefs | Enumerations
Enumerators

Typedefs

typedef enum TriclopsCamera TriclopsCamera
 Sensor definition enumerator. More...
 
typedef enum TriclopsCameraConfiguration TriclopsCameraConfiguration
 Sensor configuration enumerator. More...
 
typedef enum TriclopsColorImageType TriclopsColorImageType
 32-bit per pixel image type enumerator More...
 
typedef enum TriclopsImage16Type TriclopsImage16Type
 16-bit per pixel image type enumerator More...
 
typedef enum TriclopsImageType TriclopsImageType
 8-bit per pixel image type enumerator More...
 

Enumerations

enum  OpenCVPrefilterType { OCV_XSOBEL, OCV_NORMALIZED_RESPONSE, OCV_TYPE_NOT_IMPLEMENTED }
 OpenCV Pre-filter type enumerator. More...
 
enum  OpenCVSGBMMode { OCV_SGBM, OCV_HH, OCV_SGBM_3WAY, OCV_MODE_NOT_IMPLEMENTED }
 OpenCV Semi-Global Block Matching (SGBM) implementation enumerator. More...
 
enum  TriclopsCamera { TriCam_REFERENCE, TriCam_RIGHT, TriCam_LEFT }
 Sensor definition enumerator. More...
 
enum  TriclopsCameraConfiguration { TriCfg_2CAM_HORIZONTAL = 0, TriCfg_2CAM_HORIZONTAL_NARROW = 0, TriCfg_2CAM_HORIZONTAL_WIDE = 1, TriCfg_MAX_VALUE = 2 }
 Sensor configuration enumerator. More...
 
enum  TriclopsColorImageType { TriImg_RAW_COLOR = 0, TriImg_RECTIFIED_COLOR }
 32-bit per pixel image type enumerator More...
 
enum  TriclopsColorPixelFormat { TriImg_Color_Pixel_Format_RGB = 0, TriImg_Color_Pixel_Format_BGR, TriImg_Color_Pixel_Format_RGBU, TriImg_Color_Pixel_Format_BGRU }
 Color pixel structure enumerator. More...
 
enum  TriclopsError {
  TriclopsErrorOk = 0, TriclopsErrorInvalidSetting, TriclopsErrorInvalidCamera, TriclopsErrorInvalidCameraConfig,
  TriclopsErrorInvalidROI, TriclopsErrorInvalidParameter, TriclopsErrorInvalidSourceResolution, TriclopsErrorRoiAndOutputAspectRatioMismatch,
  TriclopsErrorInvalidResolution, TriclopsErrorInvalidCoordinates, TriclopsErrorSensorCalibratedAreaOutsideInput, TriclopsErrorInvalidRowInc,
  TriclopsErrorInvalidDisparityValue, TriclopsErrorInvalidDistanceValue, TriclopsErrorInvalidFilename, TriclopsErrorInvalidNumberDisparities,
  TriclopsErrorInvalidStereoInput, TriclopsErrorNeitherSingleNorSideBySideImage, TriclopsErrorInvalidVersion, TriclopsErrorInvalidRequest,
  TriclopsErrorInvalidStereoAlgorithm, TriclopsErrorCameraConfigNotSet, TriclopsErrorCameraConfigAlreadySet, TriclopsErrorInvalidImageType,
  TriclopsErrorNotSupportedImageFileFormat, TriclopsErrorNotSupportedColorPixelFormat, TriclopsErrorInvalidBitdepthImage, TriclopsErrorExceedMaxNumberOutputColumns,
  TriclopsErrorRectificationNotCalled, TriclopsErrorEdgeCorrelationNotCalled, TriclopsErrorDisparityComputationNotCalled, TriclopsErrorCannotUnrectifyPixel,
  TriclopsErrorCorruptConfigFile, TriclopsErrorInvalidConfig, TriclopsErrorInvalidContext, TriclopsErrorCorruptTransformFile,
  TriclopsErrorGenerationRectifyData, TriclopsErrorInvalidConfigVersion, TriclopsErrorFileRead, TriclopsErrorFileWrite,
  TriclopsErrorBadMemoryAllocation, TriclopsErrorInvalidBuffer, TriclopsErrorInvalidInternalSetting, TriclopsErrorSizeStereoInputImagesMismatch,
  TriclopsErrorStereoInputAndOutputResolutionMismatch, TriclopsErrorRoiAndOutputResolutionMismatch, TriclopsErrorInvalidStereoROI, TriclopsError3dImageSizeAndOutputResolutionMismatch,
  TriclopsErrorSingularRotationMatrix, TriclopsErrorDisparityMapAndOutputResolutionMismatch, TriclopsErrorUnknown
}
 Error enumerator. More...
 
enum  TriclopsImage16Type { TriImg16_DISPARITY = 0 }
 16-bit per pixel image type enumerator More...
 
enum  TriclopsImageType { TriImg_RAW = 0, TriImg_RECTIFIED, TriImg_EDGE }
 8-bit per pixel image type enumerator More...
 
enum  TriclopsStereoAlgorithm {
  TriAlg_STANDARD, TriAlg_OCVBM, TriAlg_OCVBMLR, TriAlg_OCVSGBM,
  TriAlg_OCVSGBMLR, TriAlg_LAST
}
 Stereo Algorithm enumerator. More...
 

Detailed Description

Definitions of the enumerators used throughout the library

Typedef Documentation

Sensor definition enumerator.

Enumerator used to define the sensors available on Bumblebee products. In all of the cases TriCam_REFERENCE and TriCam_RIGHT refer to the same sensor, as Triclops' stereo algorithms use the feed from the right camera as reference for disparity computations

See also
TriclopsCameraConfiguration

Sensor configuration enumerator.

Enumerator used to define which pair to use between the ones available on Bumblebee products. While Bumblebee 2 (BB2) have only two sensors, Bumblebee 3 (XB3) have three sensors. This is not to be confused with pan, which defines which of the two narrow configurations to use on XB3. TriCfg_2CAM_HORIZONTAL and TriCfg_2CAM_HORIZONTAL_NARROW represent the same sensor configuration on both BB2 and XB3, while TriCfg_2CAM_HORIZONTAL_WIDE is an invalid option for BB2.

See also
TriclopsCamera

32-bit per pixel image type enumerator

Enumerator used to define each specific 32-bit color image buffer that can be publicly accessed. The color images generated by Triclops use the RGBX format to represent colors.

See also
TriclopsImageType
TriclopsImage16Type
TriclopsColorPixelFormat

16-bit per pixel image type enumerator

Enumerator used to define each specific 16-bit greyscale image buffer that can be publicly accessed

See also
TriclopsImageType
TriclopsColorImageType

8-bit per pixel image type enumerator

Enumerator used to define each specific 8-bit greyscale image buffer that can be publicly accessed

See also
TriclopsImage16Type
TriclopsColorImageType

Enumeration Type Documentation

OpenCV Pre-filter type enumerator.

Enumerator used to define the possible OpenCV Block Matching (BM) pre-filters used to compute the edge-filtered frames starting from the rectified frames fed to OpenCV BM.

See also
triclopsSetOpenCVPreFilterCap()
triclopsSetOpenCVBMPreFilterType()
Enumerator
OCV_XSOBEL 

Normalized x-gradient Sobel operator

OCV_NORMALIZED_RESPONSE 

Normalized response edge detection

OCV_TYPE_NOT_IMPLEMENTED 

Placeholder for yet-to-be supported pre-filters

OpenCV Semi-Global Block Matching (SGBM) implementation enumerator.

Enumerator used to define the supported SGBM implementations that can be chosen from. SGBM has been implemented in three different ways. The standard implementation is a 5 directions approach aimed at computing comparable results without using as much space as the original 8 directions implementation. The 3 direction implementation is a newer approach which is optimized for parallel processing. The latter implementation is the one suggested in most cases when computing disparities using SGBM.

See also
TriclopsStereoAlgorithm
triclopsSetOpenCVSGBMMode()
Enumerator
OCV_SGBM 

5 directions implementation

OCV_HH 

Full-scale two-pass dynamic 8 directions implementation

OCV_SGBM_3WAY 

3 directions implementation optimized for parallel computation

OCV_MODE_NOT_IMPLEMENTED 

Placeholder for yet-to-be supported SGBM implementations

Sensor definition enumerator.

Enumerator used to define the sensors available on Bumblebee products. In all of the cases TriCam_REFERENCE and TriCam_RIGHT refer to the same sensor, as Triclops' stereo algorithms use the feed from the right camera as reference for disparity computations

See also
TriclopsCameraConfiguration

Sensor configuration enumerator.

Enumerator used to define which pair to use between the ones available on Bumblebee products. While Bumblebee 2 (BB2) have only two sensors, Bumblebee 3 (XB3) have three sensors. This is not to be confused with pan, which defines which of the two narrow configurations to use on XB3. TriCfg_2CAM_HORIZONTAL and TriCfg_2CAM_HORIZONTAL_NARROW represent the same sensor configuration on both BB2 and XB3, while TriCfg_2CAM_HORIZONTAL_WIDE is an invalid option for BB2.

See also
TriclopsCamera
Enumerator
TriCfg_2CAM_HORIZONTAL 

Narrow (i.e. 12cm) baseline for BB2 or XB3

TriCfg_2CAM_HORIZONTAL_NARROW 

Same as TriCfg_2CAM_HORIZONTAL

TriCfg_2CAM_HORIZONTAL_WIDE 

Wide (i.e. 24cm) baseline for XB3

32-bit per pixel image type enumerator

Enumerator used to define each specific 32-bit color image buffer that can be publicly accessed. The color images generated by Triclops use the RGBX format to represent colors.

See also
TriclopsImageType
TriclopsImage16Type
TriclopsColorPixelFormat
Enumerator
TriImg_RAW_COLOR 

Color non-rectified image.

Color image without corrections as was provided by the input source.

TriImg_RECTIFIED_COLOR 

Rectified Color Image.

Image corrected for lens distortion and camera misalignment to fit a pinhole camera model, using a RAW color image

Color pixel structure enumerator.

Enumerator used to define how colors are represented in images. The color representations supported use either 24 or 32 bits.

See also
TriclopsColorImageType
Enumerator
TriImg_Color_Pixel_Format_RGB 

24-bit [Red; Green; Blue] color representation

TriImg_Color_Pixel_Format_BGR 

24-bit [Blue; Green; Red] color representation

TriImg_Color_Pixel_Format_RGBU 

32-bit [Red; Green; Blue; Unused] color representation

TriImg_Color_Pixel_Format_BGRU 

32-bit [Blue; Green; Red; Unused] color representation

Error enumerator.

Enumerator used by most of Triclops' functions to inform the user of the outcome of a function call. TriclopsError::TriclopsErrorOk is the enumerator valued used to indicate that the function completed the task correctly.

Enumerator
TriclopsErrorOk 

No errors encountered.

This value is returned whenever a called function executes correctly.

TriclopsErrorInvalidSetting 

One of the provided parameters was not valid.

This is returned when the parameters are outside range or, in the case of TriclopsEnum, not valid for the enumerator (such as when casting integers to enum)

TriclopsErrorInvalidCamera 

The requested TriclopsCamera is not valid for the current context.

This error is returned when selecting a sensor not available in the provided context.

TriclopsErrorInvalidCameraConfig 

The requested camera configuration is not valid.

TriclopsErrorInvalidROI 

The requested Region of Interest is not valid.

TriclopsErrorInvalidParameter 

An invalid parameter has been passed.

TriclopsErrorInvalidSourceResolution 

The provided input resolution is invalid (i.e. either one or both dimensions are negative)

TriclopsErrorRoiAndOutputAspectRatioMismatch 

The chosen ROI and Output have different aspect ratios.

TriclopsErrorInvalidResolution 

The provided output resolution is invalid (i.e. either one or both dimensions are negative)

TriclopsErrorInvalidCoordinates 

The input coordinate (row or/and col) is invalid.

TriclopsErrorSensorCalibratedAreaOutsideInput 

The standard ROI does not completely overlap with the input frames.

TriclopsErrorInvalidRowInc 

The provided row increment is not a multiple of the provided width.

TriclopsErrorInvalidDisparityValue 

Invalid disparity value.

This is returned when the coordinates of a 3d point are requested for a disparity value less than or equal to zero

TriclopsErrorInvalidDistanceValue 

Invalid distance value.

This is returned when the coordinates of a point of the disparity map are requested for a distance value less than or equal to zero

TriclopsErrorInvalidFilename 

The filename passed to the function is invalid.

TriclopsErrorInvalidNumberDisparities 

An invalid number of disparities.

This is returned when number of disparities passed to the Triclops stereo process is less than or equal to zero

TriclopsErrorInvalidStereoInput 

the stereo pair input is invalid

This is returned when the size or the data buffer of one of the images composing the stereo pair is invalid

TriclopsErrorNeitherSingleNorSideBySideImage 

the processed image is neither a single or a side-by-side

This might be returned when rectifying a raw color image. The rowinc values must be four or eight time the number of columns

TriclopsErrorInvalidVersion 

Passed an invalid pointer to a TriclopsVersion structure.

TriclopsErrorInvalidRequest 

Error returned when a function is called without the proper setup.

This error is returned whenever the environment does not allow for the execution of a function, e.g. when requiring a disparity map without having called triclopsStereo or when rectifying/unrectifying a single pixel with rectification off

TriclopsErrorInvalidStereoAlgorithm 

The stereo algorithm requested is invalid or unknown.

TriclopsErrorCameraConfigNotSet 

Camera configuration is not set in the camera context.

TriclopsErrorCameraConfigAlreadySet 

The function tried to set a camera configuration even though it was already set.

TriclopsErrorInvalidImageType 

The image type provided is either not valid for the function called or it does not exist.

TriclopsErrorNotSupportedImageFileFormat 

The image format of the provided file is not supported.

TriclopsErrorNotSupportedColorPixelFormat 

The color pixel format of the provided file is not supported.

TriclopsErrorInvalidBitdepthImage 

The bitdepth of one or more provided images is either invalid for the function or not supported.

TriclopsErrorExceedMaxNumberOutputColumns 

The requested width is larger than the supported width.

TriclopsErrorRectificationNotCalled 

Rectification is not called yet.

This might be returned when a rectified image type is requested before rectification ever called

TriclopsErrorEdgeCorrelationNotCalled 

Edge correlation is not called yet.

This might be returned when an edge image type is requested before edge processing ever called

TriclopsErrorDisparityComputationNotCalled 

Disparity computation is not called yet.

This might be returned when a disparity image type is requested before disparity computation ever called

TriclopsErrorCannotUnrectifyPixel 

Failed the un-rectification of a rectified pixel.

TriclopsErrorCorruptConfigFile 

The provided configuration file is non conformant with the specifications.

This error is returned whenever a provided filename points at a non-valid configuration file (e.g. missing configuration fields, non-supported configuration version)

TriclopsErrorInvalidConfig 

The provided file contains invalid or contradictory configurations.

TriclopsErrorInvalidContext 

The provided context is either corrupt or invalid.

TriclopsErrorCorruptTransformFile 

Can not find the transform file or its contents is invalid

TriclopsErrorGenerationRectifyData 

An error occurred when generating data for rectification.

TriclopsErrorInvalidConfigVersion 

The version of teh configuration file is invalid.

TriclopsErrorFileRead 

File read error.

TriclopsErrorFileWrite 

File write error.

TriclopsErrorBadMemoryAllocation 

The function encountered a memory allocation problem during execution.

TriclopsErrorInvalidBuffer 

One or more of the image buffers used by the function called are not valid (i.e. null pointers)

TriclopsErrorInvalidInternalSetting 

One or more internal parameters have been corrupted during the execution.

This might be returned when an user-specified output or a combination of internal parameters lead to a corruption of internal settings, making impossible the correct execution of the function

TriclopsErrorSizeStereoInputImagesMismatch 

The size of the stereo input images mismatch.

TriclopsErrorStereoInputAndOutputResolutionMismatch 

Stereo input and output resolution differ.

This might be returned when rectification is off. The size of one image composing the stereo input differ from the requested output resolution

TriclopsErrorRoiAndOutputResolutionMismatch 

Requested ROI and output resolution differ.

This might be returned when rectification is off and the processing on an ROI is turned on. The size of the ROI differ from the requested output resolution

TriclopsErrorInvalidStereoROI 

Invalid stereo ROI to process.

The Region Of Interest, which the stereo process is carried out in, is invalid. This region is determined internally and results by subtracting mask size and minimum disparity.

TriclopsError3dImageSizeAndOutputResolutionMismatch 

3d image size and output resolution differ

TriclopsErrorSingularRotationMatrix 

Singular rotation matrix.

This might be returned when the rotation component of the trasform matrix contains singularities

TriclopsErrorDisparityMapAndOutputResolutionMismatch 

Disparity map and output resolution differ.

TriclopsErrorUnknown 

The function encountered an unknown problem.

16-bit per pixel image type enumerator

Enumerator used to define each specific 16-bit greyscale image buffer that can be publicly accessed

See also
TriclopsImageType
TriclopsColorImageType
Enumerator
TriImg16_DISPARITY 

Disparity Image.

Depth image represented using 12.4 fixed-point format disparities (i.e. 12 bits integer part, 4 bits decimal part)

8-bit per pixel image type enumerator

Enumerator used to define each specific 8-bit greyscale image buffer that can be publicly accessed

See also
TriclopsImage16Type
TriclopsColorImageType
Enumerator
TriImg_RAW 

Raw unrectified image.

Image as retrieved from the camera or from a provided memory buffer. No correction for lens distortion or camera misalignment is applied on this buffer

TriImg_RECTIFIED 

Rectified image.

Image corrected for lens distortion and camera misalignment to fit a pinhole camera model

TriImg_EDGE 

Edge image.

Image processed using a bandpass filter. Each pixel represent a biased derivative. The value of the derivative can be computed by subtracting the bias (i.e. 128) from the value of each pixel

Stereo Algorithm enumerator.

Enumerator used to define the possible stereo algorithm that can be used in order to compute disparities between frames. OpenCV stereo algorithms can be used either in native mode (i.e. using the left frame as reference) or in Triclops mode (i.e. using the right frame as reference). Each supported OpenCV Semi-Global Block Matching implementation is represented in the OpenCVSGBMMode enumerator

See also
OpenCVSGBMMode
triclopsSetStereoAlgorithm()
Enumerator
TriAlg_STANDARD 

Triclops' stereo algorithm

TriAlg_OCVBM 

OpenCV Block Matching (BM) algorithm

TriAlg_OCVBMLR 

OpenCV BM algorithm, native mode

TriAlg_OCVSGBM 

OpenCV Semi-Global Block Matching (SGBM) algorithm

TriAlg_OCVSGBMLR 

OpenCV SGBM algorithm, native mode

TriAlg_LAST 

Placeholder for static code checks

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