#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" );
}
摄像头获取视差图
最新推荐文章于 2021-07-18 12:50:13 发布