Stereo Disparity Sample

The Stereo Disparity sample demonstrates the stereo pipeline.

The above diagram shows:

• Top: Anaglyph of left and right image
• Bottom: Stereo images

The sample reads frames from two rectified stereo videos. It then runs the frames through the stereo pipeline and displays a confidence map and final stereo output.

The stereo output is color coded for clarity and some pixels are masked if they are occluded or invalid. It is possible to use keyboard input to change parameters:

0-6: changes the level of refinement (0 no refinement)
Q,W: changes the gain to the color code for visualizaion
O  : toggles occlusions
K  : infills occlusions (only if on)
+,-: changes invalidy threshold (appears as white pixels)
I  : toggle horizontal infill of invalidity pixels

Usage

./sample_stereo_disparity

The input arguments are

--video0=pathTo/videoLeftRect.h264
--video1=pathTo/videoRightRect.h264
--level=0, 1, 2, 3, pyramid level to display the disparity, depends on the number of levels (default 4)
--single_side=true/false

If --single_side is false, the sample computes left and right stereo images and performs complete stereo pipeline. Otherwise, it computes only the left image and approximates occlusions by thresholding the confidence map.