[JAVA] Desktop: OpenCV StereoSGBM

import org.opencv.calib3d.StereoBM;
import org.opencv.calib3d.StereoSGBM;
import org.opencv.core.Core;
import org.opencv.core.Core.MinMaxLocResult;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.imgcodecs.Imgcodecs;

public class OpenCV_StereoSGBM {
    static{ System.loadLibrary(Core.NATIVE_LIBRARY_NAME); }
    //SGBM(Semi-global block matching), BM(Block matching)
    public static void main(String[] args) {
        Mat imgLeft = Imgcodecs.imread("D:\\projects\\Java\\OpenCV_Samples\\resource\\imgs\\scene_l.bmp",Imgcodecs.CV_LOAD_IMAGE_GRAYSCALE);
        Mat imgRight = Imgcodecs.imread("D:\\projects\\Java\\OpenCV_Samples\\resource\\imgs\\scene_r.bmp",Imgcodecs.CV_LOAD_IMAGE_GRAYSCALE);


        //Founding self-correcting image piece
        Mat imgDisparity16S = new Mat( imgLeft.rows(), imgLeft.cols(), CvType.CV_16S );
        Mat imgDisparity8U = new Mat( imgLeft.rows(), imgLeft.cols(), CvType.CV_8UC1 );


        //Preparation Stereo BM Constructor Demand Demand
        int ndisparities = 16*5;   //Parallax range
        int SADWindowSize = 21; //block window Block window Large and small,Odd number

        //Computational parallax image
        StereoSGBM sgbm = StereoSGBM.create( 0,32,10);
        //StereoSGBM sgbm = StereoSGBM.create( 0,16,3);
        sgbm.compute( imgLeft, imgRight, imgDisparity16S );

        //檢查 extreme 值
        Core.MinMaxLocResult minMaxVal=new Core.MinMaxLocResult();
        double minVal; double maxVal;


        minMaxVal=Core.minMaxLoc( imgDisparity16S);
        minVal= minMaxVal.minVal;
        maxVal=minMaxVal.maxVal;

        System.out.println("Min value="+minVal+", Max value="+maxVal);

        //CV used_8UC1 Formal image
        imgDisparity16S.convertTo( imgDisparity8U, CvType.CV_8UC1, 255/(maxVal - minVal));

        Imgcodecs.imwrite("D:\\projects\\Java\\OpenCV_Samples\\resource\\imgs\\SGBM_sample.png ", imgDisparity16S);
    }
}

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