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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: triclopsbuffer.h,v 2.3 2007/11/30 00:43:03 soowei Exp $ 00051 //============================================================================= 00052 #ifndef TRICLOPSBUFFER_H 00053 #define TRICLOPSBUFFER_H 00054 00055 //============================================================================= 00056 // 00057 // This file defines the the API for Buffer management calls 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 // Enumerations 00084 //============================================================================= 00085 00086 //============================================================================= 00087 // Types 00088 //============================================================================= 00089 00090 //============================================================================= 00091 // Function Prototypes 00092 //============================================================================= 00093 00094 //============================================================================= 00095 // Image Buffer Operations 00096 //============================================================================= 00097 // 00098 // Group = Image Buffer Operations 00099 00100 // 00101 // Name: triclopsSetImageBuffer 00102 // 00103 // Synopsis: 00104 // Sets the internal image buffer for the specified camera and image type 00105 // to be the buffer supplied by the user. 00106 // 00107 // Input: 00108 // context - The context. 00109 // buffer - A user allocated buffer of sufficient size. 00110 // imageType - The image type. 00111 // camera - The camera. 00112 // 00113 // Returns: 00114 // TriclopsErrorOk - The operation succeeded. 00115 // InvalidContext - The input context was invalid. 00116 // InvalidCamera - The input camera is invalid for this camera configuration, 00117 // or is not associated with the requested image type. 00118 // InvalidRequest - The image is not set to be generated by the stereo kernel. 00119 // 00120 // Description: 00121 // This function allows the user to specify directly what memory he/she 00122 // wishes the output images to be deposited into. This memory will be used 00123 // by the stereo kernel as working space. This has the advantage of saving 00124 // a copy for tasks such as displaying to the screen. The user may simply 00125 // set the output image buffer to his/her display buffer. However, since 00126 // this memory will be used by the stereo kernel as working space, the 00127 // contents of the buffer may change with each call of triclopsPreprocess() 00128 // or triclopsStereo(). If the results are to be saved, it is the user's 00129 // responsibility to do so. In addition, the user is responsible to allocate 00130 // sufficient memory for the buffer, and to de-allocate the buffer after 00131 // it is no longer needed. Before de-allocating the buffer, the user should 00132 // call triclopsUnsetImageBuffer(). If the user requests an invalid image, 00133 // such as the disparity image, when the context stereo flag is set to false, 00134 // or the edge image when edge correlation is set to false, an error of 00135 // invalid request will be returned. Disparity images are always associated 00136 // with the reference camera. 00137 // 00138 // See Also: 00139 // triclopsGetImage(), triclopsUnsetImageBuffer() 00140 // 00141 TriclopsError 00142 triclopsSetImageBuffer( TriclopsContext context, 00143 unsigned char* buffer, 00144 TriclopsImageType imageType, 00145 TriclopsCamera camera ); 00146 00147 // 00148 // Name: triclopsUnsetImageBuffer 00149 // 00150 // Synopsis: 00151 // This releases the user specified internal image buffer for the specified 00152 // camera and image type. The next time this buffer is required by the 00153 // system, it will allocate a new one for internal use. 00154 // 00155 // Input: 00156 // context - The context. 00157 // imageType - The image type. 00158 // camera - The camera. 00159 // 00160 // Returns: 00161 // TriclopsErrorOk - The operation succeeded. 00162 // InvalidContext - The input context was invalid. 00163 // InvalidCamera - The input camera is invalid for this camera configuration, 00164 // or is not associated with the requested image type. 00165 // 00166 // Description: 00167 // If the user has already called triclopsSetImageBuffer for a particular 00168 // camera and image type, the stereo kernel will be using that buffer for 00169 // internal processing. If the user no longer wants to have the supplied 00170 // buffer used by the stereo kernel, he/she may use this function to inform 00171 // the stereo kernel that it is no longer available. A new buffer will be 00172 // created the next time it is required by the stereo kernel. 00173 // 00174 // See Also: 00175 // TriclopsGetImage(), triclopsSetImageBuffer() 00176 // 00177 TriclopsError 00178 triclopsUnsetImageBuffer( TriclopsContext context, 00179 TriclopsImageType imageType, 00180 TriclopsCamera camera ); 00181 00182 00183 // 00184 // Name: triclopsSetImage16Buffer 00185 // 00186 // Description: 00187 // This function allows the user to set the location to which 16bit 00188 // (generally subpixel) depth images are written to once they are processed. 00189 // 00190 // Input: 00191 // context - The TriclopsContext to set the buffer in. 00192 // buffer - A pointer to the buffer. 00193 // imageType - The type of image to be written to the buffer. 00194 // camera - The camera to write from. 00195 // 00196 // Returns: 00197 // TriclopsErrorOk - Upon the successful completion of the operation. 00198 // 00199 TriclopsError 00200 triclopsSetImage16Buffer( TriclopsContext context, 00201 unsigned short* buffer, 00202 TriclopsImage16Type imageType, 00203 TriclopsCamera camera ); 00204 00205 // 00206 // Name: triclopsUnsetImage16Buffer 00207 // 00208 // Synopsis: 00209 // This releases the user specified internal image buffer for the specified 00210 // camera and image type. The next time this buffer is required by the 00211 // system, it will allocate a new one for internal use. 00212 // 00213 // Input: 00214 // context - The context. 00215 // imageType - The image type. 00216 // camera - The camera. 00217 // 00218 // Returns: 00219 // TriclopsErrorOk - The operation succeeded. 00220 // InvalidContext - The input context was invalid. 00221 // InvalidCamera - The input camera is invalid for this camera configuration, 00222 // or is not associated with the requested image type. 00223 // 00224 // Description: 00225 // If the user has already called triclopsSetImage16Buffer for a particular 00226 // camera and image type, the stereo kernel will be using that buffer for 00227 // internal processing. If the user no longer wants to have the supplied 00228 // buffer used by the stereo kernel, he/she may use this function to inform 00229 // the stereo kernel that it is no longer available. A new buffer will be 00230 // created the next time it is required by the stereo kernel. 00231 // 00232 // See Also: 00233 // triclopsGetImage(), triclopsSetImage16Buffer() 00234 // 00235 TriclopsError 00236 triclopsUnsetImage16Buffer( TriclopsContext context, 00237 TriclopsImage16Type imageType, 00238 TriclopsCamera camera ); 00239 00240 // 00241 // Name: triclopsSetColorImageBuffer 00242 // 00243 // Synopsis: 00244 // Allows the user to set separate buffers to which individual bands of the 00245 // processed color image are written to. In this case, the "processed" image 00246 // means the rectified image that is rectified when triclopsRectifyColorImage() 00247 // is called. 00248 // 00249 // Input: 00250 // context - The TriclopsContext to set the buffer for. 00251 // nCamera - The camera buffer to set. 00252 // red - A pointer to the red buffer. 00253 // green - A pointer to the green buffer. 00254 // blue - A pointer to the blue buffer. 00255 // 00256 // Returns: 00257 // TriclopsErrorOk - Upon the successful completion of the operation. 00258 // 00259 // See Also: 00260 // triclopsRectifyColorImage() 00261 // 00262 TriclopsError 00263 triclopsSetColorImageBuffer( TriclopsContext context, 00264 TriclopsCamera nCamera, 00265 unsigned char* red, 00266 unsigned char* green, 00267 unsigned char* blue ); 00268 00269 // 00270 // Name: triclopsUnsetColorImageBuffer 00271 // 00272 // Synopsis: 00273 // This releases the user specified internal color image buffer for the 00274 // specified camera. The next time this buffer is required by the 00275 // system, it will allocate a new one for internal use. 00276 // 00277 // Input: 00278 // context - The context. 00279 // camera - The camera. 00280 // 00281 // Returns: 00282 // TriclopsErrorOk - The operation succeeded. 00283 // InvalidContext - The input context was invalid. 00284 // InvalidCamera - The input camera is invalid for this camera configuration, 00285 // or is not associated with the requested image type. 00286 // 00287 // Description: 00288 // If the user has already called triclopsSetColorImageBuffer for a particular 00289 // camera, the stereo kernel will be using that buffer when rectifying a 00290 // color image. If the user no longer wants to have the supplied 00291 // buffer used by the stereo kernel, he/she may use this function to inform 00292 // the stereo kernel that it is no longer available. A new buffer will be 00293 // created the next time it is required by the stereo kernel. 00294 // 00295 // See Also: 00296 // triclopsRectifyColorImage(), triclopsSetColorImageBuffer() 00297 // 00298 TriclopsError 00299 triclopsUnsetColorImageBuffer( TriclopsContext context, 00300 TriclopsCamera camera ); 00301 00302 // 00303 // Name: triclopsSetPackedColorImageBuffer 00304 // 00305 // Synopsis: 00306 // Allows the user to set the buffer to which the processed color image 00307 // is written to. 00308 // 00309 // Input: 00310 // context - The TriclopsContext to set the buffer for. 00311 // nCamera - The camera buffer to set. 00312 // buffer - A pointer to a buffer of TriclopsPackedColorPixels. 00313 // 00314 // Returns: 00315 // TriclopsErrorOk - Upon the successful completion of the operation. 00316 // 00317 TriclopsError 00318 triclopsSetPackedColorImageBuffer( TriclopsContext context, 00319 TriclopsCamera nCamera, 00320 TriclopsPackedColorPixel* buffer ); 00321 00322 // 00323 // Name: triclopsUnsetPackedColorImageBuffer 00324 // 00325 // Synopsis: 00326 // This releases the user specified internal color image buffer for the 00327 // specified camera. The next time this buffer is required by the 00328 // system, it will allocate a new one for internal use. 00329 // 00330 // Input: 00331 // context - The context. 00332 // camera - The camera. 00333 // 00334 // Returns: 00335 // TriclopsErrorOk - The operation succeeded. 00336 // InvalidContext - The input context was invalid. 00337 // InvalidCamera - The input camera is invalid for this camera configuration, 00338 // or is not associated with the requested image type. 00339 // 00340 // Description: 00341 // If the user has already called triclopsSetPackedColorImageBuffer for a 00342 // particular camera, the stereo kernel will be using that buffer when rectifying a 00343 // color image. If the user no longer wants to have the supplied 00344 // buffer used by the stereo kernel, he/she may use this function to inform 00345 // the stereo kernel that it is no longer available. A new buffer will be 00346 // created the next time it is required by the stereo kernel. 00347 // 00348 // See Also: 00349 // triclopsSetPackedColorImageBuffer(), triclopsRectifyPackedColorImage() 00350 // 00351 TriclopsError 00352 triclopsUnsetPackedColorImageBuffer( TriclopsContext context, 00353 TriclopsCamera camera ); 00354 00355 #ifdef __cplusplus 00356 } 00357 #endif 00358 00359 #endif // #ifndef TRICLOPSBUFFER_H