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

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/*
 * stereoDepth.cc
 * Copyright (C) Brandon Wampler <bwampler@purdue.edu>
 *
 * stereoDepth.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.
 *
 * stereoDepth.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/StereoEngine.h"
#include "uvsim/sensing/Camera.h"
#include <iostream>
#include <ctime>

int main (int argc, char const* argv[])
{
        if(argc == 2)
        {
                std::cout<<"Running Calibration"<<std::endl;
                uvsim::StereoEngine::stereoCalibrate("data/stereo_calib.txt",8,5,0);
                return 0;
        }

        else
        {
    uvsim::Camera cameraL(0);
    uvsim::Camera cameraR(1);
    uvsim::StereoEngine stereo(cameraL.m_frame, cameraR.m_frame);
    cvNamedWindow("leftVideo", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("rightVideo", CV_WINDOW_AUTOSIZE);

    char c;
    static const char escKey = 27;
    bool initialize = false;
    int number = 1;
    while (1)
    {
        // user interface
        c = cvWaitKey(33);
        if ( (char)c == escKey) break;

        // update depth engine
        cameraL.update();
        cameraR.update();
        cvShowImage("leftVideo", cameraL.m_frame);
        cvShowImage("rightVideo", cameraR.m_frame);
        //usleep(10000);

        switch ( (char)c)
        {
        case 'c':
                        std::cout<<"Running Calibration"<<std::endl;
            stereo.stereoCalibrate("data/stereo_calib.txt",8,5,0);
            break;
        case 'd':
                        std::cout<<"Finding Disparity"<<std::endl;
            stereo.findDisparity();
            stereo.displayDisparity();
            break;
        case 's':
                        std::cout<<"Image Captured- "<<number<<std::endl;
            stereo.captureCalibrationImages(number);
            number++;
            break;
        case '3':
                        std::cout<<"Reprojecting to 3d"<<std::endl;
            stereo.reprojectTo3d();
            stereo.drawPointCloud();


        default:
            break;
        }
    }
    return 0;
        }
}

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