CvMat * createDisparityMapGC(CvArr * img1, CvArr * img2,
int numberOfDisparities, int maxIters)
{
CvSize imageSize = cvGetSize(img1);
// image_left and image_right are the input 8-bit single-channel images
// from the left and the right cameras, respectively
// CvSize size = cvGetSize(image_left);
CvMat* disparity_left = cvCreateMat( imageSize.height, imageSize.width,
CV_16S );
CvMat* disparity_right = cvCreateMat( imageSize.height, imageSize.width,
CV_16S );
// (int numberOfDisparities, int maxIters)
CvStereoGCState* state = cvCreateStereoGCState( 16, // numberOfDisparities
2 //maxIters
);
cvFindStereoCorrespondenceGC( img1, img2,
disparity_left, disparity_right, state, 0 );
cvReleaseStereoGCState( &state );
CvMat* disparity_left_visual =
cvCreateMat( imageSize.height, imageSize.width, CV_8U );
// because the values in the left disparity images are usually negative
cvConvertScale( disparity_left, disparity_left_visual, -16 );
// cvSave( "disparity.pgm", disparity_left_visual );
//cvSaveImage( "disparity.pgm", disparity_left_visual );
return disparity_left_visual;
}
StereoCorrespondenceCV::~StereoCorrespondenceCV()
{
if ( m_mode == LocalMatching )
cvReleaseStereoBMState(&m_bmState);
else
cvReleaseStereoGCState(&m_gcState);
}