User manual

Small Vision System User Manual 53
// Make a video source object, using the loaded framegrabber interface
svsVideoImages *videoObject = getVideoObject();
// Make a stereo processing object
svsStereoProcess *processObject = new svsStereoProcess();
// Open the video source
bool ret = videoObject->Open();
if (!ret) { …error code… }
// Read in rectification parameters
videoObject->ReadParams(“../data/megad-75.ini”);
// Set up display windows
int width = 320, height = 240;
svsWindow *win1 = new svsWindow(width,height);
svsWindow *win2 = new svsWindow(width,height);
win1->show();
win2->show();
// Start up the video stream
videoObject->SetSize(width, height);
ret = videoObject->Start();
if (!ret) { … error code … }
// Acquisition loop
while (1)
{
// Get next image
svsStereoImage *imageObject = videoObject->GetImage(400);
if (!imageObject) { … error code …}
// calculate disparity image
processObject->CalcStereo(imageObject);
// display left image and disparity image
win1->DrawImage(imageObject, svsLEFT);
win2->DrawImage(imageObject, svsDISPARITY);
}
Figure 5-2 A simple program for video acquisition and stereo processing. The full program is in
samplescpp/stframe.cpp.