点灰色研究三杆仅读取1帧

我正在使用点灰色研究Bumblebee 2相机及其SDK。我有这个循环可以连续抓住框架，但它行不通。它抓住了第一个框架，但是TriclopsgetImage（）似乎没有更新更新的内容（r | l），因为所示的图像仅来自第一个帧...任何人都有与点灰色摄像机或Triclops SDK的任何经验？

   //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;
   }

编辑

好吧，这并不优雅，但我认为这有帮助。即使这样做，我也只能得到第一帧的内容。我认为CV :: MAT左和右右都保留数据，或者没有更新，或者Triclops有问题。

TriclopsContext triclops;

从标题文件中说" TriclopsContext是一个指向内部结构的指针，它维护Triclops库所需的所有图像和簿记信息。它是所有参数的容器"

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;
   }