I am trying out various stereo matchers to build a disparity map of two image I took and I am using the following piece of code:
import numpy as np
import cv2
print('loading images...')
imgL = cv2.imread('imgL.jpg') # downscale images for faster processing if you like
imgR = cv2.imread('imgR.jpg')
# SGBM Parameters -----------------
window_size = 15 # wsize default 3; 5; 7 for SGBM reduced size image; 15 for SGBM full size image (1300px
and above); 5 Works nicely
left_matcher = cv2.StereoSGBM_create(
minDisparity=0,
numDisparities=160, # max_disp has to be dividable by 16 f. E. HH 192, 256
blockSize=5,
P1=8 * 3 * window_size ** 2, # wsize default 3; 5; 7 for SGBM reduced size image; 15 for SGBM full size image (1300px and above); 5 Works nicely
P2=32 * 3 * window_size ** 2,
disp12MaxDiff=1,
uniquenessRatio=15,
speckleWindowSize=0,
speckleRange=2,
preFilterCap=63,
mode=cv2.STEREO_SGBM_MODE_SGBM_3WAY
)
right_matcher = cv2.ximgproc.createRightMatcher(left_matcher)
# FILTER Parameters
lmbda = 80000
sigma = 1.2
visual_multiplier = 1.0
wls_filter = cv2.ximgproc.createDisparityWLSFilter(matcher_left=left_matcher)
wls_filter.setLambda(lmbda)
wls_filter.setSigmaColor(sigma)
print('computing disparity...')
displ = left_matcher.compute(imgL, imgR) # .astype(np.float32)/16
dispr = right_matcher.compute(imgR, imgL) # .astype(np.float32)/16
displ = np.int16(displ)
dispr = np.int16(dispr)
filteredImg = wls_filter.filter(displ, imgL, None, dispr) # important to put "imgL" here!!!
filteredImg = cv2.normalize(src=filteredImg, dst=filteredImg, beta=0, alpha=255, norm_type=cv2.NORM_MINMAX);
filteredImg = np.uint8(filteredImg)
cv2.imshow('Disparity Map', filteredImg)
cv2.waitKey()
cv2.destroyAllWindows()
and getting the following error:
computing disparity...
---------------------------------------------------------------------------
error Traceback (most recent call last)
<ipython-input-17-6d8b62cb8a7b> in <module>
1 print('computing disparity...')
----> 2 displ = left_matcher.compute(imgL, imgR) # .astype(np.float32)/16
3 dispr = right_matcher.compute(imgR, imgL) # .astype(np.float32)/16
4 displ = np.int16(displ)
5 dispr = np.int16(dispr)
error: OpenCV(3.4.3) /io/opencv/modules/core/src/parallel.cpp:240: error: (-2:Unspecified error) in function 'finalize'
> Exception in parallel_for() body: OpenCV(3.4.3) /io/opencv/modules/core/src/matrix.cpp:669: error: (-215:Assertion failed) nelems <= size_t(INT_MAX)*size_t(INT_MAX) in function 'reserveBuffer'
Is there something I am missing?