Get disparity image

Disparity image belongs to the upper layer of synthetic data. You need to start the EnableStreamData() beforehand, to get it through GetStreamData(). In addition, it should be check not be empty before use.

For detailed process description, please see Get original binocular image Get stereo camera correction image .

It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see Using the plugin to get data .

Tip

The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available, and SGBM is used by default in sdk.

Reference code snippet:

auto &&api = API::Create(argc, argv);

// api->EnableStreamData(Stream::DISPARITY);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);

api->Start(Source::VIDEO_STREAMING);

cv::namedWindow("frame");
// cv::namedWindow("disparity");
cv::namedWindow("disparity_normalized");

while (true) {
  api->WaitForStreams();

  auto &&left_data = api->GetStreamData(Stream::LEFT);
  auto &&right_data = api->GetStreamData(Stream::RIGHT);

  cv::Mat img;
  cv::hconcat(left_data.frame, right_data.frame, img);
  cv::imshow("frame", img);

  // auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
  // if (!disp_data.frame.empty()) {
  //   cv::imshow("disparity", disp_data.frame);
  // }

  auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
  if (!disp_norm_data.frame.empty()) {
    cv::imshow("disparity_normalized", disp_norm_data.frame);  // CV_8UC1
  }

  char key = static_cast<char>(cv::waitKey(1));
  if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
    break;
  }
}

api->Stop(Source::VIDEO_STREAMING);

The above code uses OpenCV to display the image. Select the display window, press ESC/Q to exit in the program.

Complete code examples, see get_disparity.cc .