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 retinify

Please refer to the Installation section for details.

Note

This tutorial uses OpenCV, so please install retinify using the --tools option.

2. 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:

3. Create a retinify project

We recommend using a CMake-based project when integrating retinify.
Retinify requires C++20 and GCC 11 or later.

set(CMAKE_CXX_STANDARD 20)
 
find_package(retinify REQUIRED)
 
target_link_libraries(${PROJECT_NAME} retinify)

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

#include <retinify/retinify.hpp>
#include <opencv2/opencv.hpp>
 
// LOAD INPUT IMAGES
cv::Mat leftImage = cv::imread(<left_image_path>);
cv::Mat rightImage = cv::imread(<right_image_path>);
 
// PREPARE OUTPUT CONTAINER
cv::Mat disparity;
 
// CREATE STEREO MATCHING PIPELINE
retinify::tools::StereoMatchingPipeline pipeline;
 
// INITIALIZE THE PIPELINE
auto statusInitialize = pipeline.Initialize();
if (!statusInitialize.IsOK())
{
    return 1;
}
 
// EXECUTE STEREO MATCHING
auto statusRun = pipeline.Run(leftImage, rightImage, disparity);
if (!statusRun.IsOK())
{
    return 1;
}
 
// SHOW DISPARITY
const int maxDisparity = 256;
cv::imshow("disparity", retinify::tools::ColorizeDisparity(disparity, maxDisparity));
cv::waitKey(0);