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# This Makefile performs an example of processing user provided
# images. These images are from IRG's K10 Black robot from a testing
# session behind the 80x120.
# Primary difference between this an the MOC-NA example is that this
# invokes a different "stereo session". This also uses epipolar
# rectification to reduce the search required for the input image.
# Unfortunately ASP seems a little slow for K10. Primarily some
# features like image subsampling/mask generation should be shut
# off. Our image integer correlation also needs some fiddling.
# Users with custom paths must override this variable
EXECDIR ?= ../../bin/
# Executables
ifeq ($(EXECDIR),)
EEXECDIR=
else
EEXECDIR=../$(EXECDIR)
endif
STEREO = $(EXECDIR)stereo
DISPARITYDEBUG = $(EEXECDIR)disparitydebug
POINT2MESH = $(EEXECDIR)point2mesh
RESULTSDIR = results
OUT = k10black
PREFIX = $(RESULTSDIR)/$(OUT)
all: $(PREFIX)-F-H.tif $(PREFIX).ive
$(PREFIX)-PC.tif:
mkdir -p $(RESULTSDIR)
$(STEREO) left4.png right4.png black_left.tsai black_right.tsai $(PREFIX)
$(PREFIX)-F-H.tif: $(PREFIX)-PC.tif
cd $(RESULTSDIR); $(DISPARITYDEBUG) $(OUT)-F.tif
$(PREFIX).ive: $(PREFIX)-PC.tif
cd $(RESULTSDIR); $(POINT2MESH) -s 1 $(OUT)-PC.tif $(OUT)-L.tif
clean:
rm -rf $(RESULTSDIR)
distclean: clean
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