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PODisparity map opencv
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  1. PODisparity map opencv
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    copied!<p>I am trying to make disparity map. I saw the sample code provided by opencv 'stereo_match.cpp' and I wrote the following code. But when I display the left and right image after rectification and remapping the image is black. Can anybody tell me where am I doing wrong?</p> <pre><code>int main(int argc, char* argv[]) { Mat img1, img2, g1, g2; Mat disp, disp8; char* method ="SGBM"; float scale = 1.f; // don't know why //img1 = imread(argv[1]); //img2 = imread(argv[2]); img1=imread("l1.jpg"); img2=imread("r1.jpg"); cvtColor(img1, g1, CV_BGR2GRAY); cvtColor(img2, g2, CV_BGR2GRAY); Size img_size = img1.size(); Rect roi1, roi2; Mat Q; /*reading parameters of ectrinssic &amp; intrinssic file*/ const char* intrinsic_filename="intrinsics"; Mat img1r, img2r; if( intrinsic_filename ) { FileStorage fs("intrinsics.yml", cv::FileStorage::READ); if(!fs.isOpened()) { printf("Failed to open file %s\n"); return -1; } Mat M1, D1, M2, D2; fs["M1"] &gt;&gt; M1; fs["D1"] &gt;&gt; D1; fs["M2"] &gt;&gt; M2; fs["D2"] &gt;&gt; D2; M1 *= scale; M2 *= scale; fs.open("extrinsics.yml", cv::FileStorage::READ); if(!fs.isOpened()) { printf("Failed to open file %s\n"); return -1; } Mat R, T, R1, P1, R2, P2; fs["R"] &gt;&gt; R; fs["T"] &gt;&gt; T; stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &amp;roi1, &amp;roi2 ); Mat map11, map12, map21, map22; initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12); initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22); remap(img1, img1r, map11, map12, INTER_LINEAR); remap(img2, img2r, map21, map22, INTER_LINEAR); // img1 = img1r; // img2 = img2r; imshow("left1", img1r); imshow("left2", img2r); } } </code></pre> <p><img src="https://i.stack.imgur.com/MBdlt.png" alt="output left image">} <img src="https://i.stack.imgur.com/DSgd0.png" alt="output right image"> ![original left image][3]</p>
 

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