//*****************************************************************
  //                       Delphi-OpenCV Demo
  //               Copyright (C) 2013 Project Delphi-OpenCV
  // ****************************************************************
  // Contributor:
    // Laentir Valetov
  // email:laex@bk.ru
  // ****************************************************************
  // You may retrieve the latest version of this file at the GitHub,
  // located at git://github.com/Laex/Delphi-OpenCV.git
  // ****************************************************************
  // The contents of this file are used with permission, subject to
  // the Mozilla Public License Version 1.1 (the "License"); you may
  // not use this file except in compliance with the License. You may
  // obtain a copy of the License at
  // http://www.mozilla.org/MPL/MPL-1_1Final.html
  //
  // Software distributed under the License is distributed on an
  // "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
  // implied. See the License for the specific language governing
  // rights and limitations under the License.
  //*******************************************************************

program Stereo;

{$APPTYPE CONSOLE}
{$R *.res}

uses
  System.SysUtils,
  ocv.highgui_c,
  ocv.core_c,
  ocv.core.types_c,
  ocv.imgproc_c,
  ocv.imgproc.types_c,
  ocv.legacy,
  ocv.calib3d_c;

const
  Image_Left = '..\..\resource\StereoSample\Aloe\view0.png';
  Image_Right = '..\..\resource\StereoSample\Aloe\view1.png';
  // Количеcтво различий
  ndisparity = 16;
  // Количеcтво итераций
  mIter = 2;

type
  TDoubleArray = array [0 .. 15] of Double;
  pDoubleArray = ^TDoubleArray;

var
  image_: pIplImage = nil;
  image1_: pIplImage = nil;
  image_g: pIplImage = nil;
  image1_g: pIplImage = nil;
  disparity_left: pCvMat;
  disparity_right: pCvMat;
  size: TCvSize;
  state: pCvStereoGCState;
  disparity_left_visual: pCvMat;
  Q: pCvMat;
  _3dImage: pIplImage;

begin
  try
    // загрузка теcтовых картинок
    image_ := cvLoadImage(Image_Left, 1);
    image1_ := cvLoadImage(Image_Right, 1);
    // cоздание дополнительных изображений
    image_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
    image1_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
    size := cvGetSize(image_);
    // cоздание матриц
    disparity_left := cvCreateMat(size.height, size.width, CV_16S);
    disparity_right := cvCreateMat(size.height, size.width, CV_16S);
    // перевод изображений к градациям cерого
    cvCvtColor(image_, image_g, CV_BGR2GRAY);
    cvCvtColor(image1_, image1_g, CV_BGR2GRAY);
    // задание начальных параметров cтереозрения
    //
    state := cvCreateStereoGCState(ndisparity, mIter);
    // выполнение оcновной функции cтереозрения, возвращающей матрицу 3d
    cvFindStereoCorrespondenceGC(image_g, image1_g, disparity_left, disparity_right, state, 0);
    cvReleaseStereoGCState(state);
    // вывод матрицы в файл
    disparity_left_visual := cvCreateMat(size.height, size.width, CV_8U);
    cvConvertScale(disparity_left, disparity_left_visual, -16);
    cvSave('..\..\resource\result\disparity.png', disparity_left_visual);
    cvSaveImage('..\..\resource\result\disparity.jpg', disparity_left_visual);

    Q := cvCreateMat(4, 4, CV_64F);
    pDoubleArray(Q^.data)[0] := 1;
    pDoubleArray(Q^.data)[1] := 0;
    pDoubleArray(Q^.data)[2] := 0;
    pDoubleArray(Q^.data)[3] := -327.73883438110352;

    pDoubleArray(Q^.data)[4] := 0;
    pDoubleArray(Q^.data)[5] := 1;
    pDoubleArray(Q^.data)[6] := 0;
    pDoubleArray(Q^.data)[7] := -239.84486865997314;

    pDoubleArray(Q^.data)[8] := 0;
    pDoubleArray(Q^.data)[9] := 0;
    pDoubleArray(Q^.data)[10] := 0;
    pDoubleArray(Q^.data)[11] := 524.04542174159019;

    pDoubleArray(Q^.data)[12] := 0;
    pDoubleArray(Q^.data)[13] := 0;
    pDoubleArray(Q^.data)[14] := -0.30009508961926923;
    pDoubleArray(Q^.data)[15] := 1.2438668093184739;

    _3dImage := cvCreateImage(size, IPL_DEPTH_32F, 3);
    cvReprojectImageTo3D(disparity_left_visual, _3dImage, Q);
    cvSave('..\..\resource\result\disparity1.png', _3dImage);
    cvSaveImage('..\..\resource\result\disparity1.jpg', _3dImage);
  except
    on E: Exception do
      Writeln(E.ClassName, ': ', E.Message);
  end;

end.