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#!/usr/bin/env python
import sys
import cv2.cv as cv
def findstereocorrespondence(image_left, image_right):
# image_left and image_right are the input 8-bit single-channel images
# from the left and the right cameras, respectively
(r, c) = (image_left.rows, image_left.cols)
disparity_left = cv.CreateMat(r, c, cv.CV_16S)
disparity_right = cv.CreateMat(r, c, cv.CV_16S)
state = cv.CreateStereoGCState(16, 2)
cv.FindStereoCorrespondenceGC(image_left, image_right, disparity_left, disparity_right, state, 0)
return (disparity_left, disparity_right)
if __name__ == '__main__':
(l, r) = [cv.LoadImageM(f, cv.CV_LOAD_IMAGE_GRAYSCALE) for f in sys.argv[1:]]
(disparity_left, disparity_right) = findstereocorrespondence(l, r)
disparity_left_visual = cv.CreateMat(l.rows, l.cols, cv.CV_8U)
cv.ConvertScale(disparity_left, disparity_left_visual, -16)
cv.SaveImage("disparity.pgm", disparity_left_visual)
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