int main(int argc, char *argv[])
{
SDL_Init(SDL_INIT_EVERYTHING);
for (int i = 0 ; i < 256 ; i++) {
colors[i].r = i;
colors[i].g = i;
colors[i].b = i;
}
screen = SDL_SetVideoMode(1400, 600, 32, SDL_SWSURFACE);
SDL_WM_SetCaption("Image test", NULL);
GreyCamera left_cam("/dev/video0", HEIGHT, WIDTH);
left_cam.start();
JpegCamera right_cam("/dev/video1", HEIGHT, WIDTH);
right_cam.start();
SDL_Event event;
CameraImage left_img, right_img;
for (;;) {
SDL_PollEvent(&event);
if (event.type == SDL_QUIT) {
break;
}
if (event.type == SDL_KEYDOWN && event.key.keysym.sym == SDLK_ESCAPE) {
break;
}
left_cam.capture(&left_img);
right_cam.capture(&right_img);
blit_image(&left_img, 0, 0);
blit_image(&right_img, 650, 0);
//save_image(&left_img);
}
left_cam.stop();
right_cam.stop();
SDL_Quit();
return 0;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "Cam_Setup");
//cv::initModule_nonfree(); //initialize nonfree opencv modules
BaxterCamera right_cam("right_hand_camera");
right_cam.display();
ros::spinOnce();
std::cout<<"Setting up right cam...\n";
right_cam.resolution(Resolution(320,200));
right_cam.half_resolution(false);
right_cam.window(Resolution(560,190)); // (570, 150)
right_cam.gain(15);
right_cam.exposure(10);
BaxterCamera left_cam("left_hand_camera");
left_cam.display();
ros::spinOnce();
/*std::cout<<"Setting up left_cam...\n";
left_cam.resolution(Resolution(320,200));
left_cam.half_resolution(false);
left_cam.window(Resolution(555,220)); // (570, 150)
left_cam.gain(15);
*/
std::cout<<"Starting trackbar...\n";
cv::namedWindow(window_name, CV_WINDOW_AUTOSIZE);
cv::createTrackbar("Threshold", window_name, &thresh_val, max_value, threshold);
threshold(0,0);
while(ros::ok()) {
left = left_cam.cvImage();
right = right_cam.cvImage();
ros::spinOnce();
}
return 0;
}
