26 lines
953 B
Python
Executable File
26 lines
953 B
Python
Executable File
#/usr/bin/env python
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import sys
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import cv2.cv as cv
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def findstereocorrespondence(image_left, image_right):
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# image_left and image_right are the input 8-bit single-channel images
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# from the left and the right cameras, respectively
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(r, c) = (image_left.rows, image_left.cols)
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disparity_left = cv.CreateMat(r, c, cv.CV_16S)
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disparity_right = cv.CreateMat(r, c, cv.CV_16S)
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state = cv.CreateStereoGCState(16, 2)
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cv.FindStereoCorrespondenceGC(image_left, image_right, disparity_left, disparity_right, state, 0)
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return (disparity_left, disparity_right)
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if __name__ == '__main__':
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(l, r) = [cv.LoadImageM(f, cv.CV_LOAD_IMAGE_GRAYSCALE) for f in sys.argv[1:]]
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(disparity_left, disparity_right) = findstereocorrespondence(l, r)
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disparity_left_visual = cv.CreateMat(l.rows, l.cols, cv.CV_8U)
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cv.ConvertScale(disparity_left, disparity_left_visual, -16)
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cv.SaveImage("disparity.pgm", disparity_left_visual)
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