Computer stereo vision is the process of extracting three-dimensional information from digital images by calculating depth based on the binocular discrepancy between the left and right camera images of an object. In stereo vision, two cameras located on the same horizontal line are displaced relative to each other, which allow you to get one image from two points, this works similarly to the binocular vision of a person.

Analysis of these two images allows obtaining disparity map information. A disparity map is an indicator of the difference in the relative position of the same points recorded by two cameras. This map allows us to calculate the difference in horizontal coordinates of the corresponding points of the image, which ultimately will allow us to calculate the distance to the object.

#include <opencv2/opencv.hpp>
#include <opencv2/imgcodecs.hpp>

namespace StereoDepthPerceptionLib
{
    // Call this once.
    // Size = Size(width, height)
	void Setup(const cv::Size size);

    // Call this every frame.
	void Compute(
		const cv::Mat &leftImage,
		const cv::Mat &rightImage);

    // Call this every frame.
	void GetDepthImage(cv::Mat &depthImage);
}

1. Create the build folder.

    mkdir build && cd build

2. Cmake and make.

    cmake .. && make

3. Run the demo.

    ./StereoDepthPerception