if __name__ == "__main__":
image_size = (image_width, image_height)
# imgLeft = downsample_image(cv2.imread("./input_images/aloeL.jpg"), 1)
# imgRight = downsample_image(cv2.imread("./input_images/aloeR.jpg"), 1)
imgLeft = downsample_image(cv2.imread("./input_images/left19.jpg"), 3)
imgRight = downsample_image(cv2.imread("./input_images/right19.jpg"), 3)
width_left, height_left = imgLeft.shape[:2]
width_right, height_right = imgRight.shape[:2]
if 0 in [width_left, height_left, width_right, height_right]:
print("Error: Can't remap image.")
calibrator = Calibrator(6, 9)
calibrator.load_parameters()
imgLeft = calibrator.undistort_image(imgLeft)
imgRight = calibrator.undistort_image(imgRight)
# cv2.imshow('Left CALIBRATED', imgLeft)
# cv2.imshow('Right CALIBRATED', imgRight)
#
# cv2.waitKey(0)
# Rectify both image
threshold = 0.65
imgLeft_r, imgRight_r = rectify_stereo_pair_uncalibrated(
imgLeft, imgRight, threshold)
stereo = SGBMTuner(imgLeft_r, imgRight_r)
