Tutorials

This tutorial provides a step-by-step guide to using retinify with OpenCV. Please refer to the following repository for the code examples used throughout the tutorial.
👉 Example Repository

1. Install OpenCV

sudo apt install libopencv-dev

2. Install retinify

Please refer to the Installation section for details.

3. Quick Demo

This section demonstrates how to perform stereo matching on an arbitrary stereo image pair.
First, clone the repository used for the demo:

git clone https://github.com/retinify/retinify-opencv-example.git
cd retinify-opencv-example

Next, build the project:

mkdir build
cd build
cmake ..
make

An executable will be produced in the build directory. Use it to perform stereo matching. Locate the demo stereo images in the retinify-opencv-example/img directory (you may substitute any stereo image pair). Run the executable with the left and right stereo image paths as arguments:

Note

If TensorRT is used as the backend, creation of the engine file may require some time.

./retinify-opencv-example <left_image_path> <right_image_path>

Upon successful execution, the result will be displayed and a file named disparity.png will be saved in the same directory as the executable. If you use the images provided in the retinify-opencv-example/img directory, a successful run should produce a disparity image similar to the following:

4. Create a retinify project

We recommend using a CMake-based project when integrating retinify.
Retinify requires GCC 11 or later.

find_package(retinify REQUIRED)
target_link_libraries(${PROJECT_NAME} retinify::retinify)

In this tutorial, we will use image data in the form of cv::Mat.
Stereo matching can be performed using the retinify::Pipeline.

#include <retinify/retinify.hpp>
#include <opencv2/opencv.hpp>
 
// LOAD INPUT IMAGES
cv::Mat leftImage = cv::imread("path/to/left.png");
cv::Mat rightImage = cv::imread("path/to/right.png");
 
// PREPARE OUTPUT CONTAINER
cv::Mat disparity = cv::Mat::zeros(leftImage.size(), CV_32FC1);
 
// CREATE STEREO MATCHING PIPELINE
retinify::Pipeline pipeline;
 
// INITIALIZE THE PIPELINE
auto statusInitialize = pipeline.Initialize(static_cast<std::uint32_t>(leftImage.cols), static_cast<std::uint32_t>(leftImage.rows));
if (!statusInitialize.IsOK())
{
    return 1;
}
 
// EXECUTE STEREO MATCHING
auto statusExecute = pipeline.Execute(leftImage.ptr<std::uint8_t>(), leftImage.step[0], rightImage.ptr<std::uint8_t>(), rightImage.step[0]);
if (!statusExecute.IsOK())
{
    return 1;
}
 
// RETRIEVE DISPARITY
auto statusRetrieve = pipeline.RetrieveDisparity(disparity.ptr<float>(), disparity.step[0]);
if (!statusRetrieve.IsOK())
{
    return 1;
}
 
// SHOW DISPARITY
auto statusColorize = retinify::ColorizeDisparity(disparity.ptr<float>(), disparity.step[0], disparityColored.ptr<std::uint8_t>(), disparityColored.step[0], disparity.cols, disparity.rows, 256.0F);
if (!statusColorize.IsOK())
{
    return 1;
}
 
cv::cvtColor(disparityColored, disparityColored, cv::COLOR_RGB2BGR);
cv::imshow("disparity", disparityColored);
cv::waitKey(0);