Problems capturing image from LI-USB30-V024STEREO Leopard Imaging stereo board

asked 2015-08-04 17:26:42 -0500

jordanthompson gravatar image

updated 2015-08-21 14:21:38 -0500

Hi there, I have a LI-USB30-V024STEREO board which interlaces the grayscale image into a single image. I am reading the images from the two cameras and displaying it into several windows, including the original image, but am unable to properly grab the gray-scale video from the source.

I have gotten some information and code from Leopard Imaging, but I think there is still a disconnect. They have provided to me what they are telling me is required to extract the two images from a frame. I have included the code below as well as before and after images of a frame. I am calling their code from ImageProcessing::process(). Any help you may provide would be most appreciated.

Raw, original image:

Processed Image:

#include "ImageProcessor.h"
#include "../handlers/menu/Menu.h"
#include "../utils/WindowUtils.h"

#include <vector>
#include <iostream>
#include <opencv2/highgui/highgui.hpp>
#include <stdio.h>
#include <SDL/SDL.h>

using namespace cv;
using namespace std;

string ImageProcessor::theWindowName = "Video";

ImageProcessor::ImageProcessor()
: videoCapture(0), myScreen(0), myFrameNumber(0) {
  isRunningX = WindowUtils::isRunningX();

  if (!videoCapture.isOpened()) {
    cout << "Cannot open the video cam" << endl;
  }

  if (isRunningX) {
    namedWindow(theWindowName.c_str(), CV_WINDOW_FULLSCREEN);
    cvNamedWindow(theWindowName.c_str(), CV_WINDOW_NORMAL);
    cvSetWindowProperty(theWindowName.c_str(), CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
  } else {
    SDL_Init(SDL_INIT_EVERYTHING);
    SDL_ShowCursor(0);
  }
}

#define BYTE uchar
#define WORD ushort
#define TRUE 1
#define FALSE 0
static unsigned short linear_to_gamma[65536];
static double gammaValue = -1;
static int gBPP = 0;
void bayer_to_rgb24(uint8_t *pBay, uint8_t *pRGB24, int width, int height, int pix_order);
int raw_to_bmp_mono(BYTE* in_bytes, BYTE* out_bytes, int width, int height, int bpp,
        bool GammaEna, double gamma);

bool ImageProcessor::process(Mat& matOut) {
// Leopard Imaging
unsigned char* ptr = (unsigned char*) malloc(myMat.cols * myMat.rows * 3);
unsigned char* ptr2 = (unsigned char*) malloc(myMat.cols * myMat.rows * 3);
bayer_to_rgb24(myMat.data, ptr, myMat.cols, myMat.rows, 1);
raw_to_bmp_mono(ptr, ptr2, myMat.cols, myMat.rows, 8, true, 1.6);
  int i = 0;

  for (int row = 0; row < matOut.rows; row++) {
    for (int col = 0; col < matOut.cols; col++) {
      Vec3b colorVect;
      colorVect.val[0] = ptr2[i];
      colorVect.val[1] = ptr2[i];
      colorVect.val[2] = ptr2[i];
      matOut.at<Vec3b>(Point(col, row)) = colorVect;
      i+=2;
    }
  }
  if (myFrameNumber == 10) {
    writePngImage("/tmp/image.png", matOut, false);
    writeInfo("/tmp/image.csv", matOut, false);
    cout << "image snapped" << endl;
  }
  myFrameNumber++;
  free(ptr);
  free(ptr2);
}

void ImageProcessor::writePngImage(const string & fileName,
        const Mat& mat, bool isColor) {
  vector<int> compression_params;
  compression_params.push_back(IMWRITE_PNG_COMPRESSION);

  if (isColor) {
    compression_params.push_back(9);
  } else {
    compression_params.push_back(3);
  }

  try {
    imwrite(fileName, mat, compression_params);
  } catch (...) {
    fprintf(stderr, "Exception converting image to PNG format\n");
  }
}

void ImageProcessor::writeInfo(const std::string & fileName,
        const Mat& mat, bool isColor) {
  FILE* file = fopen(fileName.c_str(), "w");
  uchar* ptr = mat.data;
  // write the header row
  for (int col = 0; col < mat.cols; col++) {
    if (isColor) {
      fprintf(file, "%3d[0]\t%3d[1]\t%3d[2]", col, col, col);
    } else {
      fprintf(file, "%3d[0]\t%3d[1]", col, col);
    }
    if (col < mat.cols - 1) {
      fprintf(file, "\t");
    }
  }
  fprintf(file, "\n");

  int val = 2;
  switch (val) {
    case 1:
      // write the data using the class
      for (int row ...
(more)
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Comments

For mat constructor it is row and col at line Mat matLow(matIn.cols, matIn.rows, CV_8UC1);

LBerger gravatar imageLBerger ( 2015-08-05 02:49:58 -0500 )edit

something is wrong here Mat matMid(matIn.rows, matIn.rows, CV_8UC1); May be you shoud write loop like this :

    for (int row = 0; row < matIn.rows; row++) {

   uchar* pLow = matLow.ptr(row);
    uchar* pHigh = matHigh.ptr(row);
    uchar* pIn = matIn.ptr(row);
     for (int col = 0; col < matIn.cols; col++) {
        *pLow = *pIn;
        pLow++;
        pIn++;
        pIn++;
        *pHigh = *pIn;
        pHigh++;
        pIn++;
      }
    }
LBerger gravatar imageLBerger ( 2015-08-05 04:34:47 -0500 )edit

I don't understand. So let's try split plane:

    vector<Mat> colorPlane;
    split( matIn, colorPlane);
    imShow("Blue",colorPlane[0]);
    imShow("Green",colorPlane[1]);
    imShow("Red",colorPlane[2]);
LBerger gravatar imageLBerger ( 2015-08-05 09:28:06 -0500 )edit

I'm not sure. You can try

uchar *pSrc;
unsigned short *pDst1,*pDst2;
for (int i = 0; i < matIn.rows; i++)
{
    pDst1 = (unsigned short*)matLow.ptr(i);
    pDst2 = (unsigned short*)matHigh.ptr(i);
    pSrc = matIn.ptr(i);
    for (int j = 0; j < matIn.cols; j++)
    {
            unsigned  short v=*pSrc++;
            unsigned  short v1=(*pSrc&0xF0)>>4;
            v=v*16+v1;
            v = pow(v/4096.0,1.0/1.6)*4096;
            *pDst1++=v*16;
            v1=(*pSrc&0x0F);
            pSrc++;
            v=v1+(*pSrc++)*16;
            v = pow(v/4096.0,1.0/1.6)*4096;
            *pDst2++=(v*16);
    }

}
LBerger gravatar imageLBerger ( 2015-08-06 15:58:55 -0500 )edit

sorry i forget :

Mat matLow(matIn.rows, matIn.cols, CV_16UC1), matHigh(matIn.rows,matIn.cols,CV_16UC1);

after imshow you have to insert line

waitKey(20);
LBerger gravatar imageLBerger ( 2015-08-06 16:31:45 -0500 )edit

In png image plane 0 and 2 are quite similar and plane 1 is an unknown for me. I cannot see any disparity due to stereo I have try to convert color space using this without success :

for (int i = 0; i < COLOR_COLORCVT_MAX; i++)
{
    Mat mc;
    {
        try
        {
         cvtColor(matIn,mc,i);
        imshow("test" + to_string(i),mc);
        waitKey();
       }
        catch (cv::Exception e)
        {
            std::cerr<<"Error cvtcolor: "<<e.what()<<std::endl;
        }   
    }
}

I have seen your post here. Can you debug this project using visual studio? May be opencv uses a wong driver for this camera

LBerger gravatar imageLBerger ( 2015-08-07 03:12:51 -0500 )edit

Can you send three images first with left blacking camera second with right camera blacking and third with all camera active pointing same scene?

LBerger gravatar imageLBerger ( 2015-08-07 10:01:01 -0500 )edit

first Image 14389661582674824.png second Image 14389661688312743.png plane 0and 2 all pixels are 255 plane 1 some pixels are ranging to 113 161 (button right) third 14389661805812268.png plan like previous image I cannot see disparity. plane 0and 2 all pixels are 255 and plan 1 is an halo. Using Leopardimaging software can you have image like third image?

If you send me good image I think opencv driver is false.

LBerger gravatar imageLBerger ( 2015-08-07 14:28:23 -0500 )edit

I have uploaded the images and verified that this last set is correct. I really appreciate your help with this.

jordanthompson gravatar imagejordanthompson ( 2015-08-10 09:51:37 -0500 )edit

I still think something is wrong. But we can try something. We have an unknown image with three plane X,Y and Z. We can suppose that a specific matriw such that [right Left ]'=M [X Y Z]'. symbol ' is for transpose. We have to identify M a 2 rows by three colum matrix. With saturated image is not a good way (not enough equation). A better way is to take first a stereo image of a scene, second only left image (with right image black) and third a right image (with left image black). After we have a linear system to solve...

Please can you clean your post it is difficult to find your new data (post is very large)

LBerger gravatar imageLBerger ( 2015-08-10 10:38:32 -0500 )edit