/home/jgoppert/Projects/uvsim/uvsim/src/test/depth.cc

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/*
 * depth.cc
 * Copyright (C) James Goppert <jgoppert@users.sourceforge.net>
 *
 * depth.cc is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * depth.cc is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "uvsim/sensing/DepthEngine.h"
#include "uvsim/sensing/Camera.h"
#include <iostream>
#include <ctime>

int main (int argc, char const* argv[])
{
    uvsim::Camera camera(0);
    uvsim::DepthEngine depth(camera.m_frame);
    cvNamedWindow("video", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("image", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("prevImage", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("prevRectified / rectified", CV_WINDOW_AUTOSIZE);
    char c;
    static const char escKey = 27;
    bool initialize = false;
    while (1)
    {
        // user interface
        c = cvWaitKey(33);
        if ( (char)c == escKey) break;

        // update depth engine
        camera.update();
        cvShowImage("video", camera.m_frame);
        //usleep(10000);

        switch ( (char)c)
        {
        case 'r':
            initialize = true;
            //purposefully omitted "break" to allow update after re-initialize
        case 'n':
            depth.update(initialize);
            initialize = false;
            cvShowImage("image", depth.image);
            cvShowImage("prevImage", depth.prevImage);

            break;
        case 'd':
            depth.calculateDepth();
            cvShowImage("prevRectified / rectified", depth.pair);
            break;
        default:
            break;
        }
    }
    cvDestroyWindow("depth.test");
    return 0;
}

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