if __name__ == "__main__": image_size = (image_width, image_height) # imgLeft = downsample_image(cv2.imread("./input_images/aloeL.jpg"), 1) # imgRight = downsample_image(cv2.imread("./input_images/aloeR.jpg"), 1) imgLeft = downsample_image(cv2.imread("./input_images/left19.jpg"), 3) imgRight = downsample_image(cv2.imread("./input_images/right19.jpg"), 3) width_left, height_left = imgLeft.shape[:2] width_right, height_right = imgRight.shape[:2] if 0 in [width_left, height_left, width_right, height_right]: print("Error: Can't remap image.") calibrator = Calibrator(6, 9) calibrator.load_parameters() imgLeft = calibrator.undistort_image(imgLeft) imgRight = calibrator.undistort_image(imgRight) # cv2.imshow('Left CALIBRATED', imgLeft) # cv2.imshow('Right CALIBRATED', imgRight) # # cv2.waitKey(0) # Rectify both image threshold = 0.65 imgLeft_r, imgRight_r = rectify_stereo_pair_uncalibrated( imgLeft, imgRight, threshold) stereo = SGBMTuner(imgLeft_r, imgRight_r)