CODEWITHSUNDEEP
c++opencvdisparity-mapping
CV_passionate
CV_passionate

Reputation: 135

How to estimate disparity map in openCV C++?

I have calibrated and stereo rectified images in MATLAB using Caltech's toolbox. I tried the disaprity in MATLAB and it is not returning good results now I would like to try it in OPENCV. I could not find any OPENCV sample code for disparity from their website. This is the code I found so far:

#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/contrib/contrib.hpp"
#include <stdio.h>
#include <string.h>
using namespace cv;
using namespace std;

int main(int argc, char* argv[])
{
    Mat img1, img2, g1, g2;
    Mat disp, disp8;
    
    //char* method = argv[3];
    char* method = "SGBM";
    
    //img1 = imread(argv[1]);
    //img2 = imread(argv[2]);
    img1 = imread("leftImage.jpg");
    img2 = imread("rightImage.jpg");
    
    cvtColor(img1, g1, CV_BGR2GRAY);
    cvtColor(img2, g2, CV_BGR2GRAY);

    if (!(strcmp(method, "BM")))
    {
        StereoBM sbm;
        sbm.state->SADWindowSize = 9;
        sbm.state->numberOfDisparities = 112;
        sbm.state->preFilterSize = 5;
        sbm.state->preFilterCap = 61;
        sbm.state->minDisparity = -39;
        sbm.state->textureThreshold = 507;
        sbm.state->uniquenessRatio = 0;
        sbm.state->speckleWindowSize = 0;
        sbm.state->speckleRange = 8;
        sbm.state->disp12MaxDiff = 1;
        sbm(g1, g2, disp);
    }
    else if (!(strcmp(method, "SGBM")))
    {
        StereoSGBM sbm;
        sbm.SADWindowSize = 3;
        sbm.numberOfDisparities = 144;
        sbm.preFilterCap = 63;
        sbm.minDisparity = -39;
        sbm.uniquenessRatio = 10;
        sbm.speckleWindowSize = 100;
        sbm.speckleRange = 32;
        sbm.disp12MaxDiff = 1;
        sbm.fullDP = false;
        sbm.P1 = 216;
        sbm.P2 = 864;
        sbm(g1, g2, disp);
    }

    
    normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);

    imshow("left", img1);
    imshow("right", img2);
    imshow("disp", disp8);

    waitKey(0);

    return(0);
}

This is the error I get:

Unhandled exception at at 0x000007FEFD4D940D in OPEN_CV_TEST.exe: Microsoft C++ exception: cv::Exception at memory location 0x0000000000149260.

There is no description on the procedure to run the code. I just put those left and right images in the \x64\Debug folder of my project and running the code in MS visual studio 2012 windows 7 64 bit. I created the project before and ran a sample test and it worked. Now I am just copying the above code in the main C++ source file. I assume there should not be any library file or header files missing. Please note that I do not need need to rectify images and no need for stereo matching either right now.

Upvotes: 3

Views: 12362

Answers (1)

CV_passionate
CV_passionate

Reputation: 135

I figured it out! it was the "imread" function in OPENCV which was causing problems! I used "cvLoadImage" instead. I also put the images in the folder of the project right next to CPP files and also in DEBUG folders. It is working fine now. Apparently the "IMREAD" function is a known problem in OPENCV!

Upvotes: 1

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