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