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enum TriclopsError | triclopsGetResolution (const TriclopsContext context, int *nrows, int *ncols) |
| Retrieves the output resolution. More...
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enum TriclopsError | triclopsGetRoi (TriclopsContext context, TriclopsROI *roi) |
| Retrieves the region of interest. More...
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enum TriclopsError | triclopsGetRoiOn (TriclopsContext context, TriclopsBool *roiOn) |
| Retrieves the state of the rectification in a region of interest. More...
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enum TriclopsError | triclopsGetSourceResolution (const TriclopsContext context, int *nSrcRows, int *nSrcCols) |
| Retrieves the current resolution for raw images. More...
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enum TriclopsError | triclopsPrepareRectificationData (TriclopsContext context, int nrows, int ncols, int nInputRows, int nInputCols) |
| Sets the resolution of the resultant images and prepare data for rectrification. More...
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enum TriclopsError | triclopsSetResolution (TriclopsContext context, int nrows, int ncols) |
| Sets the resolution of the resultant images. This includes rectified, disparity and edge images. More...
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enum TriclopsError | triclopsSetRoi (TriclopsContext context, TriclopsROI roi) |
| Sets the region of interest. More...
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enum TriclopsError | triclopsSetRoiOn (TriclopsContext context, TriclopsBool roiOn) |
| Enables rectification in a region of interest. More...
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enum TriclopsError | triclopsSetSourceResolution (TriclopsContext context, int nSrcRows, int nSrcCols) |
| Sets the resolution of the raw images that the library will be processing later. More...
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Triclops provides functions to prepare to and control image rectification using a calibrated camera. These functions are configured and controlled through specific parameters.
Retrieves the output resolution.
This function retrieves the resolution of the resultant images. This includes rectified, disparity and edge images.
- Parameters
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context | The context. |
nrows | A pointer to the retrieved number of rows in the output images. |
ncols | A pointer to the retrieved number of columns in the output images. |
- Returns
- An error code representing the outcome of the function
- Return values
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TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
- See also
- triclopsSetResolution()
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triclopsGetSourceResolution()
Retrieves the region of interest.
This function retrives the region of interest (ROI) where rectification is carried out.
- Parameters
-
context | The input context. |
roi | A pointer to a ROI structure that will store the current region of interest. |
- Returns
- An error code representing the outcome of the function
- Return values
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TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
TriclopsErrorInvalidSetting | One of the elements composing the ROI structure is negative or equal to zero. |
- See also
- triclopsSetRoi()
Retrieves the state of the rectification in a region of interest.
- Parameters
-
context | The input context. |
roiOn | A pointer to a Boolean that will store the current setting. |
- Returns
- An error code representing the outcome of the function
- Return values
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TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
- See also
- triclopsSetRoiOn()
Retrieves the current resolution for raw images.
- Parameters
-
context | The context. |
nSrcRows | A pointer to the retrieved number of rows in the raw images. |
nSrcCols | A pointer to the retrieved number of columns in the raw images. |
- Returns
- An error code representing the outcome of the function
- Return values
-
TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
- See also
- triclopsSetSourceResolution()
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triclopsGetResolution()
Sets the resolution of the resultant images and prepare data for rectrification.
This function sets the desired resolution of the output images and also immediately constructs the rectification tables. For large images, the construction of the rectification can take a while. This function allows you to control when the construction takes place, otherwise it will occur during the first call to triclopsRectify(). The resolution of the input images must be specified at this time, as this is necessary for the construction of the tables. The output images include the rectified, disparity and edge images. For feature based stereo application where rectification of the entire image is not needed, one should call triclopsSetResolution() and triclopsSetSourceResolution() only (these are much simpler functions), and then simply proceeds to call triclopsRectifyPixel() and triclopsUnrectifyPixel() for the small set of feature pixels needed.
- Parameters
-
context | The input context. |
nrows | The number of rows in the output images. |
ncols | The number of columns in the output images. |
nInputRows | The number of rows in the input images. |
nInputCols | The number of columns in the input images. |
- Returns
- An error code representing the outcome of the function
- Return values
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TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The provided context is either invalid or contains one or more invalid rectification warpers |
TriclopsErrorInvalidSourceResolution | The resolution of the provided source is invalid (i.e. either dimension is smaller than 1) |
TriclopsErrorInvalidResolution | The requested output resolution is invalid (i.e. either dimension is smaller than 1) |
TriclopsErrorExceedMaxNumberOutputColumns | The number of columns for the output resolution exceeds the maximum limit |
TriclopsErrorInvalidROI | The ROI requested is either invalid or is not completely overlapped with the source image |
TriclopsErrorRoiAndOutputAspectRatioMismatch | The aspect ratio of the requested ROI and the requested output are different |
TriclopsErrorInvalidInternalSetting | One of the internal settings used for the generation of the rectification warpers is not valid. |
TriclopsErrorBadMemoryAllocation | The system returned an allocation error while creating one of the internal buffers (i.e. Edge or Rectified buffers) or while requesting more memory for rectification warpers |
TriclopsErrorGenerationRectifyData | An error occurred when generating data for rectification |
- See also
- triclopsSetResolution()
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triclopsSetSourceResolution(),
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triclopsGetResolution()
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triclopsGetSourceResolution()
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triclopsSetRectify()
Sets the resolution of the resultant images. This includes rectified, disparity and edge images.
- Parameters
-
context | The input context. |
nrows | The number of rows in the output images. |
ncols | The number of columns in the output images. |
- Returns
- An error code representing the outcome of the function
- Return values
-
TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
TriclopsErrorInvalidResolution | The resolution is composed of one or more negative numbers. |
TriclopsErrorExceedMaxNumberOutputColumns | The number of columns exceeds the maximum limit. |
- See also
- triclopsGetResolution()
Sets the region of interest.
This function sets the region of interest (ROI) where rectification is carried out. One ROI is drawn in the rectified space for each calibrated lens. The resolution of this calibrated space is equal to the source resolution. ROI processing is not enabled calling this function, but triclopsSetRoiOn() has to be called.
- Parameters
-
context | The input context. |
roi | The input region of interest. |
- Returns
- An error code representing the outcome of the function
- Return values
-
TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
TriclopsErrorInvalidSetting | The provided ROI has one or more invalid internal values. |
- See also
- triclopsGetRoi()
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triclopsSetRoiOn()
Enables rectification in a region of interest.
This function enables rectification in a region of interest (ROI) rather than in the entire image. The ROI is defined calling triclopsSetRoi().
- Parameters
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context | The input context. |
roiOn | A Boolean indicating whether rectification in a ROI should be turned on or off. |
- Returns
- An error code representing the outcome of the function.
- Return values
-
TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
- See also
- triclopsSetRoi()
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triclopsGetRoiOn()
Sets the resolution of the raw images that the library will be processing later.
This function sets the expected resolution of the raw images. This function is provided primarily to support feature based stereo application where one is expected to make direct calls to triclopsRectifyPixel() and triclopsUnrectifyPixel() on a point by point basis. For regular stereo application where an entire image will be rectified every time, the application should use triclopsPrepareRectificationData() which in addition to setting up both the source and rectification resolution, it also creates the rectification table to speed up the full image rectification calls.
- Parameters
-
context | The context |
nSrcRows | The number of rows in the raw images. |
nSrcCols | The number of columns in the raw images. |
- Returns
- An error code representing the outcome of the function
- Return values
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TriclopsErrorOk | The function completed successfully. |
TriclopsInvalidContext | The input context is invalid. |
TriclopsInvalidSourceResolution | The number of rows or columns is a negative number. |
- See also
- triclopsGetSourceResolution()
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triclopsRectifyPixel()
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triclopsUnrectifyPixel()
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triclopsPrepareRectificationData()