63 lines
2.1 KiB
ReStructuredText
63 lines
2.1 KiB
ReStructuredText
.. _get_disparity:
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Get disparity image
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===================
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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.
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For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` .
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It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` .
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.. tip::
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The SetDisparityComputingMethodType method is used to change disparity computing method. Currently, BM and SGBM are available.
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Reference code snippet:
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.. code-block:: c++
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auto &&api = API::Create(argc, argv);
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// api->EnableStreamData(Stream::DISPARITY);
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api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
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api->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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// cv::namedWindow("disparity");
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cv::namedWindow("disparity_normalized");
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while (true) {
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api->WaitForStreams();
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auto &&left_data = api->GetStreamData(Stream::LEFT);
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auto &&right_data = api->GetStreamData(Stream::RIGHT);
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cv::Mat img;
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cv::hconcat(left_data.frame, right_data.frame, img);
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cv::imshow("frame", img);
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// auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
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// if (!disp_data.frame.empty()) {
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// cv::imshow("disparity", disp_data.frame);
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// }
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auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
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if (!disp_norm_data.frame.empty()) {
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cv::imshow("disparity_normalized", disp_norm_data.frame); // CV_8UC1
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}
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char key = static_cast<char>(cv::waitKey(1));
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if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
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break;
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}
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}
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api->Stop(Source::VIDEO_STREAMING);
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The above code uses OpenCV to display the image. Select the display window, press ``ESC/Q`` to exit in the program.
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Complete code examples, see `get_disparity.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_disparity.cc>`_ .
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