test.cpp

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//#include <ros/ros.h>
//#include <image_transport/image_transport.h>
//#include <cv_bridge/cv_bridge.h>
//#include <sensor_msgs/image_encodings.h>
//#include <opencv2/imgproc/imgproc.hpp>
//#include <opencv2/highgui/highgui.hpp>

#include <signal.h>
//=============================================================================
// PGR Includes
//=============================================================================
#include "pgr_registers.h"
#include "pgr_stereocam.h"

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}

TriclopsContext wideTriclops;
TriclopsContext shortTriclops;

TriclopsError e;

char file_shortcal[1024] = "config/short.cal";
char file_widecal[1024] = "config/wide.cal";



int main(int argc, char **argv)
{


struct{
        int width;
        int height;
}Image;
        Image.width=320;
        Image.height=240;


        // read in the TriclopsContexts from calibration files
        printf( "Getting TriclopsContexts from files \n%s \n and \n%s ... \n", file_shortcal, file_widecal);
        e = triclopsGetDefaultContextFromFile( &shortTriclops, file_shortcal);
        if ( e != TriclopsErrorOk ) { fprintf( stderr, "Can't get short context from file\n" ); }
        //triclopsWriteDefaultContextToFile( shortTriclops, (char*)"../config/short_context.txt");

        //e = triclopsGetDefaultContextFromFile( &wideTriclops,file_widecal); 
        //if ( e != TriclopsErrorOk ){  fprintf( stderr, "Can't get wide context from file\n" ); shutdown_module(SIGINT);}
        //triclopsWriteDefaultContextToFile( wideTriclops, (char*)"../config/wide_context.txt");
        // make sure we are in subpixel mode
        //triclopsSetSubpixelInterpolation( wideTriclops, 1 );

        PFLN
        triclopsSetMaxThreadCount( shortTriclops,1 );
        PFLN
        //triclopsSetMaxThreadCount( wideTriclops,1 );
        PFLN


        }