/*AUTHOR: Ravi Prakash
          University of Southern California, Los Angeles
*/
#include<cvaux.h>
#include<cv.h>
#include<highgui.h>

int param1, param2, param3, param4, param5, maxDisp;
IplImage *leftIm, *rightIm, *disparityIm;
char *imWin="Disparity of Stereo Images";

void showDisp1(int i)
{
    cvFindStereoCorrespondence( leftIm, rightIm, CV_DISPARITY_BIRCHFIELD, disparityIm, maxDisp, param1, param2, param3, param4 , param5 );
    cvShowImage(imWin, disparityIm);
    cvSaveImage("Output.jpg", disparityIm);
}

void showDisp(int i)
{
}
 
int main()
{
   
    int temp;
    leftIm  = cvLoadImage("mview1.png", CV_LOAD_IMAGE_GRAYSCALE);
    rightIm = cvLoadImage("mview5.png", CV_LOAD_IMAGE_GRAYSCALE);

    disparityIm= cvCreateImage( cvGetSize(leftIm), IPL_DEPTH_8U, 1);
    
    cvNamedWindow(imWin);
    
    maxDisp=50; param1=25; param2=5; param3=12; param4=15; param5=25;
    cvCreateTrackbar("Max Disparity",  imWin, &maxDisp, 300, showDisp);
    cvCreateTrackbar("Occ penalty",  imWin, &param1, 100, showDisp);
    cvCreateTrackbar("Match reward", imWin, &param2, 100, showDisp);
    cvCreateTrackbar("High rel reg", imWin, &param3, 100, showDisp);
    cvCreateTrackbar("Mod rel reg",  imWin, &param4, 100, showDisp);
    cvCreateTrackbar("Low rel reg",  imWin, &param5, 100, showDisp);
    cvCreateTrackbar("Trigger",  imWin, &temp, 100, showDisp1);
    showDisp(0);    
    
    cvWaitKey(0);
    cvDestroyWindow(imWin);    
    cvReleaseImage(&leftIm);
    cvReleaseImage(&rightIm);
    cvReleaseImage(&disparityIm);
}