// Open DUO camera sensor
bool DUOStereoSensorDriver::openCamera()
{
if (camera_open)
return true;
if(!OpenDUOCamera(frameSize.width, frameSize.height, 30))
{
camera_open = false;
return false;
}
camera_open = true;
// Set exposure and LED brightness
SetGain(duoProperties->gain);
SetExposure(duoProperties->exposure);
SetLed(duoProperties->led);
// Un-flip frames
SetVFlip(true);
// Enable retrieval of undistorted (rectified) frames
SetUndistort(true);
return true;
}
int main(int argc, char* argv[])
{
printf("DUOLib Version: v%s\n", GetLibVersion());
// Open DUO camera and start capturing
if(!OpenDUOCamera(WIDTH, HEIGHT, FPS))
{
printf("Could not open DUO camera\n");
return 0;
}
// Create OpenCV windows
cvNamedWindow("Left");
cvNamedWindow("Right");
// Set exposure and LED brightness
SetExposure(50);
SetLed(25);
// Create image headers for left & right frames
IplImage *left = cvCreateImageHeader(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 1);
IplImage *right = cvCreateImageHeader(cvSize(WIDTH, HEIGHT), IPL_DEPTH_8U, 1);
// Run capture loop until <Esc> key is pressed
while((cvWaitKey(1) & 0xff) != 27)
{
// Capture DUO frame
PDUOFrame pFrameData = GetDUOFrame();
if(pFrameData == NULL) continue;
// Set the image data
left->imageData = (char*)pFrameData->leftData;
right->imageData = (char*)pFrameData->rightData;
// Process images here (optional)
// Display images
cvShowImage("Left", left);
cvShowImage("Right", right);
}
// Release image headers
cvReleaseImageHeader(&left);
cvReleaseImageHeader(&right);
// Close DUO camera
CloseDUOCamera();
return 0;
}
