//#include <videoInput.h>
int Job1()
{
//CvCapture* captureR = cvCreateCameraCapture( 1);
//CvCapture* captureL = cvCreateCameraCapture( 2 );
//CvCapture* captureR = cvCreateCameraCapture(CV_CAP_DSHOW);
//CvCapture* captureL = cvCreateCameraCapture(CV_CAP_DSHOW + 2);
//videoInput VI;
//int numDevices = VI.listDevices();
CvCapture* captureL =cvCaptureFromCAM(1);
cvWaitKey(100000);
CvCapture* captureR =cvCaptureFromCAM(0);
cvWaitKey(100000);
//Camera Setting
int w = 320, h = 240;
cvSetCaptureProperty ( captureL, CV_CAP_PROP_FRAME_WIDTH, w );
cvSetCaptureProperty ( captureL, CV_CAP_PROP_FRAME_HEIGHT, h );
cvSetCaptureProperty ( captureR, CV_CAP_PROP_FRAME_WIDTH, w );
cvSetCaptureProperty ( captureR, CV_CAP_PROP_FRAME_HEIGHT, h );
cvNamedWindow( "Camera_L", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Camera_R", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Segmentation", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Disparity", CV_WINDOW_AUTOSIZE );
//Image buffer
IplImage *imgL_O, *imgL;
IplImage *imgR_O, *imgR;
//segmentation setting
FastSegmentation Z;
Z.setting(0,h ,w, 1, 13, 13, 1,6);
//Depth Setting
Depth Y;
Y.setting(h, w, 1, 13, 13, 1, 1, 0);
Y.ROI(80,150,50,300);
Y.SMask=Z.FilterMap;
//debug
IplImage *Zmap = cvCreateImage(cvSize(Z.width_R,Z.height_R),8,3);
IplImage *Dmap = cvCreateImage(cvSize(Y.width_R,Y.height_R),8,1);
while(true)
{
if( !(imgL= cvQueryFrame(captureL)) )
{
//printf("\n #Error(Panel_Display):READ_IMAGE_FAIL L");
//getchar();
//exit(-1);
continue;
}
if( !(imgR= cvQueryFrame(captureR)) )
{
//printf("\n #Error(Panel_Display):READ_IMAGE_FAIL R");
//getchar();
//exit(-1);
continue;
}
unsigned char* srcL=(unsigned char* )imgL->imageData;
unsigned char* srcR=(unsigned char* )imgR->imageData;
//Z.setting(srcL,h ,w, 1, 13, 13, 1,6);
Z.Img=srcL;
Z.filtering();
Z.clustering2();
Y.SMask=Z.FilterMap;
Y.clusters=Z.clusters;
Y.ClusterNum=Z.ClusterNum;
Y.update(srcL,srcR);
cvShowImage( "Camera_L", imgL );
cvShowImage( "Camera_R", imgR );
Zmap->imageData=(char*)Z.FilterMap;
cvShowImage( "Segmentation", Zmap );
Dmap->imageData=(char*)Y.DisparityMap;
cvShowImage( "Disparity", Dmap );
int key = cvWaitKey(30);
if( key == 27 ){
cvSaveImage("L.bmp",imgL, 0);
cvSaveImage("R.bmp",imgR, 0);
break;
}
}
cvReleaseCapture( &captureL );
cvReleaseCapture( &captureR );
cvDestroyWindow( "Camera_L" );
cvDestroyWindow( "Camera_R" );
return 0;
}
