fix: use normalized and real depth in depth sample.

include/mynteye/api/api.h

@@ -204,6 +204,15 @@ class MYNTEYE_API API {
    * Get the intrinsics base of stream.
    */
   std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const;
+  /**
+   * Get the intrinsics of stream.
+   */
+  template <typename T>
+  T GetDisparityParams() const;
+  /**
+   * Get the intrinsics base of stream.
+   */
+  std::shared_ptr<DisparityParamsBase> GetDisparityParamsBase() const;
   /**
    * Get the extrinsics from one stream to another.
    */

include/mynteye/types.h

@@ -626,6 +626,10 @@ struct MYNTEYE_API Extrinsics {
 MYNTEYE_API
 std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
 
+
+/**
+ * @defgroup disparity params
+ */
 /**
  * @ingroup disparity
  * Camera disparity computing method type.
@@ -639,6 +643,33 @@ enum class DisparityComputingMethod : std::uint8_t {
   UNKNOW
 };
 
+struct MYNTEYE_API DisparityParamsBase {
+  DisparityParamsBase() {
+    disparity_model_ = DisparityComputingMethod::UNKNOW;
+  }
+  virtual ~DisparityParamsBase() {}
+  virtual void ResizeIntrinsics() {}
+
+  /** The calibration model */
+  DisparityComputingMethod disparity_model() const {
+    return disparity_model_;
+  }
+ protected:
+  DisparityComputingMethod disparity_model_;
+};
+
+struct MYNTEYE_API DisparityParamsSGBM : public DisparityParamsBase {
+  DisparityParamsSGBM() {
+    disparity_model_ = DisparityComputingMethod::SGBM;
+  }
+};
+
+struct MYNTEYE_API DisparityParamsBM : public DisparityParamsBase {
+  DisparityParamsBM() {
+    disparity_model_ = DisparityComputingMethod::BM;
+  }
+};
+
 
 /**
  * @defgroup datatypes Datatypes

samples/tutorials/data/get_depth.cc

@@ -30,11 +30,13 @@ int main(int argc, char *argv[]) {
 
   api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
   api->EnableStreamData(Stream::DEPTH);
+  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
 
   api->Start(Source::VIDEO_STREAMING);
 
   cv::namedWindow("frame");
-  cv::namedWindow("depth");
+  cv::namedWindow("depth_real");
+  cv::namedWindow("depth_normalized");
   while (true) {
     api->WaitForStreams();
 
@@ -47,9 +49,16 @@ int main(int argc, char *argv[]) {
       cv::imshow("frame", img);
     }
 
+    // this code is for real depth data
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
     if (!depth_data.frame.empty()) {
-      cv::imshow("depth", depth_data.frame);  // CV_16UC1
+      cv::imshow("depth_real", depth_data.frame);  // CV_16UC1
+    }
+
+    // this code is for normalized depth data
+    auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+    if (!disp_norm_data.frame.empty()) {
+      cv::imshow("depth_normalized", disp_norm_data.frame);  // CV_8UC1
     }
 
     char key = static_cast<char>(cv::waitKey(1));

src/mynteye/api/config.cc

@@ -61,6 +61,28 @@ std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
   return res;
 }
 
+// sgbm_matcher = cv::StereoSGBM::create(0, 16, 3);
+// sgbm_matcher->setPreFilterCap(63);
+// sgbm_matcher->setBlockSize(sgbmWinSize);
+// sgbm_matcher->setP1(8 * sgbmWinSize * sgbmWinSize);
+// sgbm_matcher->setP2(32 * sgbmWinSize * sgbmWinSize);
+// sgbm_matcher->setMinDisparity(0);
+// sgbm_matcher->setNumDisparities(numberOfDisparities);
+// sgbm_matcher->setUniquenessRatio(10);
+// sgbm_matcher->setSpeckleWindowSize(100);
+// sgbm_matcher->setSpeckleRange(32);
+// sgbm_matcher->setDisp12MaxDiff(1);
+
+// bm_matcher = cv::StereoBM::create(0, 3);
+// bm_matcher->setPreFilterSize(9);
+// bm_matcher->setPreFilterCap(31);
+// bm_matcher->setBlockSize(15);
+// bm_matcher->setMinDisparity(0);
+// bm_matcher->setNumDisparities(64);
+// bm_matcher->setUniquenessRatio(60);
+// bm_matcher->setTextureThreshold(10);
+// bm_matcher->setSpeckleWindowSize(100);
+// bm_matcher->setSpeckleRange(4);
 
 
 MYNTEYE_END_NAMESPACE