learnopencv/EpipolarGeometryAndStereoVision/stereo.py

from __future__ import print_function

import numpy as np
import cv2

def main():
    imgL = cv2.imread("images/im0.png",0)
    imgL = cv2.resize(imgL,(600,600))

    imgR = cv2.imread("images/im1.png",0)
    imgR = cv2.resize(imgR,(600,600))

    # Setting parameters for StereoSGBM algorithm
    minDisparity = 0
    numDisparities = 64
    blockSize = 8
    disp12MaxDiff = 1
    uniquenessRatio = 10
    speckleWindowSize = 10
    speckleRange = 8

    # Creating an object of StereoSGBM algorithm
    stereo = cv2.StereoSGBM_create(minDisparity = minDisparity,
        numDisparities = numDisparities,
        blockSize = blockSize,
        disp12MaxDiff = disp12MaxDiff,
        uniquenessRatio = uniquenessRatio,
        speckleWindowSize = speckleWindowSize,
        speckleRange = speckleRange
    )

    # Calculating disparith using the StereoSGBM algorithm
    disp = stereo.compute(imgL, imgR).astype(np.float32)

    # Calculating disparith using the StereoSGBM algorithm
    disp = cv2.normalize(disp,0,255,cv2.NORM_MINMAX)
    
    # Displaying the disparity map
    cv2.imshow("disparity",disp)
    cv2.imshow("left image",imgL)
    cv2.imshow("right image",imgR)
    cv2.waitKey(0)
    

if __name__ == '__main__':
    main()
    cv2.destroyAllWindows()