双目视觉学习笔记-SGBM

opencv 3.4所带的SGBM算法，求出的视差值需要除16以保证数据的正确性。
// 读取图像
cv::Mat left = cv::imread("/left.png", 0);
cv::Mat right = cv::imread("/right.png", 0);

    cv::Ptr<cv::StereoSGBM> sgbm = cv::StereoSGBM::create(
        0, 96, 9, 8 * 9 * 9, 32 * 9 * 9, 1, 63, 10, 100, 32);    // 神奇的参数
    cv::Mat disparity_sgbm, disparity;
    sgbm->compute(left, right, disparity_sgbm);
    disparity_sgbm.convertTo(disparity, CV_32F, 1.0 / 16.0f);//
    cv::imwrite("/home/lzy/disparty.png",disparity);
   // for(int i=0;i<disparity.cols;i+=1)
   // cout<<"disparity:"<<disparity.at<uchar>(1,2);
    cv::imshow("disparity", disparity/100);