// Use this for initialization
void Start()
{
//Read the left and right images
Texture2D texLeft = Resources.Load("tsukuba_l") as Texture2D;
Texture2D texRight = Resources.Load("tsukuba_r") as Texture2D;
Mat imgLeft = new Mat(texLeft.height, texLeft.width, CvType.CV_8UC1);
Mat imgRight = new Mat(texRight.height, texRight.width, CvType.CV_8UC1);
Utils.texture2DToMat(texLeft, imgLeft);
Utils.texture2DToMat(texRight, imgRight);
//or
//Mat imgLeft = Imgcodecs.imread (Utils.getFilePath ("tsukuba_l.png"), Imgcodecs.IMREAD_GRAYSCALE);
//Mat imgRight = Imgcodecs.imread (Utils.getFilePath ("tsukuba_r.png"), Imgcodecs.IMREAD_GRAYSCALE);
Mat imgDisparity16S = new Mat(imgLeft.rows(), imgLeft.cols(), CvType.CV_16S);
Mat imgDisparity8U = new Mat(imgLeft.rows(), imgLeft.cols(), CvType.CV_8UC1);
if (imgLeft.empty() || imgRight.empty())
{
Debug.Log("Error reading images ");
}
StereoBM sbm = StereoBM.create(16, 15);
sbm.compute(imgLeft, imgRight, imgDisparity16S);
//normalize to CvType.CV_8U
Core.normalize(imgDisparity16S, imgDisparity8U, 0, 255, Core.NORM_MINMAX, CvType.CV_8U);
Texture2D texture = new Texture2D(imgDisparity8U.cols(), imgDisparity8U.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgDisparity8U, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
