摄像头获取视差图

#include <highgui.h>
#include <cv.h>
#include <cxcore.h>
#include <iostream>

using namespace std;
using namespace cv;

int main(int argc, char** argv[])
{
     cvNamedWindow("left", CV_WINDOW_AUTOSIZE);
     cvNamedWindow("right", CV_WINDOW_AUTOSIZE);

     CvCapture* capture1;
     CvCapture* capture2;
         if (argc==1)
         {
             capture1 = cvCreateCameraCapture( 0 );
             capture2 = cvCreateCameraCapture( 1 );
         }

     IplImage* img1;
     IplImage* img2;

     while(1)
     {
         img1 = cvQueryFrame( capture1 );
         img2 = cvQueryFrame( capture2 );
         if( !(img1&&img2) )
              break;
          cvShowImage( "left", img1 );
          cvShowImage( "right", img2 );

    cv::StereoSGBM sgbm;
    int SADWindowSize = 9;
    sgbm.preFilterCap = 63;
    sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;

    int cn = img1->nChannels;
    int numberOfDisparities=64;

    sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.minDisparity = 0;
    sgbm.numberOfDisparities = numberOfDisparities;
    sgbm.uniquenessRatio = 10;
    sgbm.speckleWindowSize = 100;
    sgbm.speckleRange = 32;
    sgbm.disp12MaxDiff = 1;

    Mat disp, disp8;
    int64 t = getTickCount();

    sgbm((Mat)img1, (Mat)img2, disp);
    t = getTickCount() - t;
    cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;
    disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));

    cvNamedWindow("disparity", CV_WINDOW_AUTOSIZE);
    imshow("disparity", disp8);

    waitKey(30);
    }

    cvReleaseCapture( &capture1 );
    cvReleaseCapture( &capture2 );
    cvDestroyWindow( "left" );
    cvDestroyWindow( "right" );
    cvDestroyWindow( "disparity" );
}