trackbar-code.txt

#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/contrib/contrib.hpp>
#include <stdio.h>
#include <iostream>
#include <string.h>

using namespace cv;
using namespace std;

int window_size = 9;
int temp1;
int number_of_disparities = 80;
int temp2;
int pre_filter_size = 5;
int temp3;
int pre_filter_cap = 23;
int temp4;
int min_disparity = 30;
int temp5;
int texture_threshold = 500;
int temp6;
int uniqueness_ratio = 0;
int temp7;
int max_diff = 100;
float temp8;
int speckle_window_size = 0;
int temp9;

int main(int argc, char* argv[])
{
	Mat img1, img2, g1, g2;
	Mat disp, disp8;
	VideoCapture cap1(0);
	VideoCapture cap2(1);
	namedWindow("right", CV_WINDOW_AUTOSIZE);
	namedWindow("left01", CV_WINDOW_AUTOSIZE);
	/*img1 = imread("tsukuba_l.png");
	img2 = imread("tsukuba_r.png");
	cvtColor(img1, g1, CV_BGR2GRAY);
	cvtColor(img2, g2, CV_BGR2GRAY);*/

	int i1;
	int i2;
	int i3;
	int i4;
	int i5;
	int i6;
	int i7;
	int i8;
	int i9;
	namedWindow("disp");
	createTrackbar("WindowSize", "disp", &window_size, 255, NULL);
	createTrackbar("no_of_disparities", "disp", &number_of_disparities, 255, NULL);
	createTrackbar("filter_size", "disp", &pre_filter_size, 255, NULL);
	createTrackbar("filter_cap", "disp", &pre_filter_cap, 63, NULL);
	createTrackbar("min_disparity", "disp", &min_disparity, 60, NULL);
	createTrackbar("texture_thresh", "disp", &texture_threshold, 2000, NULL);
	createTrackbar("uniquness", "disp", &uniqueness_ratio, 30, NULL);
	createTrackbar("disp12MaxDiff", "disp", &max_diff, 100, NULL);
	createTrackbar("Speckle Window", "disp", &speckle_window_size, 5000, NULL);

	while (1)
	{
		cap1.read(img1);
		cap2.read(img2);
		cvtColor(img1, g1, CV_BGR2GRAY);
		cvtColor(img2, g2, CV_BGR2GRAY);
		i1 = window_size;
		StereoBM sbm;
		if (i1 % 2 == 0 && i1 >= 7)
		{
			temp1 = i1 - 1;
			sbm.state->SADWindowSize = temp1;
		}
		if (i1<7)
		{
			temp1 = 7;
			sbm.state->SADWindowSize = temp1;
		}
		if (i1 % 2 != 0 && i1 >= 7)
		{
			temp1 = i1;
			sbm.state->SADWindowSize = temp1;
		}


		i2 = number_of_disparities;
		if (i2 % 16 != 0 && i2>16)
		{
			temp2 = i2 - i2 % 16;
			sbm.state->numberOfDisparities = temp2;
		}
		if (i2 % 16 == 0 && i2>16)
		{
			temp2 = i2;
			sbm.state->numberOfDisparities = temp2;
		}
		if (i2 <= 16)
		{
			temp2 = 16;
			sbm.state->numberOfDisparities = temp2;

		}


		i3 = pre_filter_size;
		if (i3 % 2 == 0 && i3 >= 7)
		{
			temp3 = i3 - 1;
			sbm.state->preFilterSize = temp3;
		}
		if (i3<7)
		{
			temp3 = 7;
			sbm.state->preFilterSize = temp3;

		}
		if (i3 % 2 != 0 && i3 >= 7)
		{
			temp3 = i3;
			sbm.state->preFilterSize = temp3;
		}


		i4 = pre_filter_cap;
		if (i4>0)
		{
			temp4 = i4;
			sbm.state->preFilterCap = temp4;
		}
		if (i4 == 0)
		{
			temp4 = 1;
			sbm.state->preFilterCap = temp4;
		}


		i5 = min_disparity;
		temp5 = -i5;
		sbm.state->minDisparity = temp5;



		i6 = texture_threshold;
		temp6 = i6;
		sbm.state->textureThreshold = temp6;


		i7 = uniqueness_ratio;
		temp7 = i7;
		sbm.state->uniquenessRatio = temp7;


		i8 = max_diff;
		temp8 = 0.01*((float)i8);
		sbm.state->disp12MaxDiff = temp8;


		i9 = speckle_window_size;
		temp9 = i9;
		sbm.state->speckleWindowSize = temp9;




		sbm.state->speckleRange = 8;

		sbm(g1, g2, disp);
		normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);
		
		imshow("left", img1);
		imshow("right", img2);
		imshow("left01", disp8);
		waitKey(1);
	}
	return(0);
}