vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

modules/xstereo/samples/dense_disparity.cpp

@@ -0,0 +1,63 @@
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <fstream>
+#include <opencv2/xstereo.hpp>
+
+
+
+
+using namespace cv;
+using namespace std;
+
+
+int main()
+{
+//!     [load]
+    cv::Mat rightImg, leftImg;
+    leftImg = imread("./imgLeft.png", IMREAD_COLOR);
+    rightImg = imread("./imgRight.png", IMREAD_COLOR);
+//!     [load]
+
+
+//!     [create]
+    cv::Size frameSize = leftImg.size();
+    Ptr<stereo::QuasiDenseStereo> stereo = stereo::QuasiDenseStereo::create(frameSize);
+//!     [create]
+
+
+//!     [process]
+    stereo->process(leftImg, rightImg);
+//!     [process]
+
+
+//!     [disp]
+    cv::Mat disp;
+    disp = stereo->getDisparity();
+    cv::namedWindow("disparity map");
+    cv::imshow("disparity map", disp);
+//!     [disp]
+
+
+    cv::namedWindow("right channel");
+    cv::namedWindow("left channel");
+    cv::imshow("left channel", leftImg);
+    cv::imshow("right channel", rightImg);
+
+
+//!     [export]
+    vector<stereo::MatchQuasiDense> matches;
+    stereo->getDenseMatches(matches);
+    std::ofstream dense("./dense.txt", std::ios::out);
+    for (uint i=0; i< matches.size(); i++)
+    {
+        dense << matches[i].p0 << matches[i].p1 << endl;
+    }
+    dense.close();
+//!     [export]
+
+
+
+    cv::waitKey(0);
+
+    return 0;
+}