75 lines
1.8 KiB
C++
75 lines
1.8 KiB
C++
/**
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* @file SBM_Sample
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* @brief Get a disparity map of two images
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* @author A. Huaman
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*/
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#include <stdio.h>
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#include <iostream>
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#include "opencv2/calib3d/calib3d.hpp"
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#include "opencv2/core/core.hpp"
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#include "opencv2/highgui/highgui.hpp"
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using namespace cv;
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char *windowDisparity = "Disparity";
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void readme();
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/**
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* @function main
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* @brief Main function
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*/
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int main( int argc, char** argv )
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{
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if( argc != 3 )
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{ readme(); return -1; }
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//-- 1. Read the images
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Mat imgLeft = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE );
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Mat imgRight = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE );
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//-- And create the image in which we will save our disparities
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Mat imgDisparity16S = Mat( imgLeft.rows, imgLeft.cols, CV_16S );
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Mat imgDisparity8U = Mat( imgLeft.rows, imgLeft.cols, CV_8UC1 );
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if( !imgLeft.data || !imgRight.data )
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{ std::cout<< " --(!) Error reading images " << std::endl; return -1; }
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//-- 2. Call the constructor for StereoBM
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int ndisparities = 16*5; /**< Range of disparity */
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int SADWindowSize = 21; /**< Size of the block window. Must be odd */
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StereoBM sbm( StereoBM::BASIC_PRESET,
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ndisparities,
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SADWindowSize );
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//-- 3. Calculate the disparity image
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sbm( imgLeft, imgRight, imgDisparity16S, CV_16S );
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//-- Check its extreme values
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double minVal; double maxVal;
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minMaxLoc( imgDisparity16S, &minVal, &maxVal );
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printf("Min disp: %f Max value: %f \n", minVal, maxVal);
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//-- 4. Display it as a CV_8UC1 image
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imgDisparity16S.convertTo( imgDisparity8U, CV_8UC1, 255/(maxVal - minVal));
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namedWindow( windowDisparity, CV_WINDOW_NORMAL );
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imshow( windowDisparity, imgDisparity8U );
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//-- 5. Save the image
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imwrite("SBM_sample.png", imgDisparity16S);
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waitKey(0);
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return 0;
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}
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/**
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* @function readme
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*/
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void readme()
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{ std::cout << " Usage: ./SBMSample <imgLeft> <imgRight>" << std::endl; }
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