{"id":15655300,"url":"https://github.com/tobybreckon/stereo-disparity","last_synced_at":"2025-05-04T07:51:37.932Z","repository":{"id":53181608,"uuid":"108134758","full_name":"tobybreckon/stereo-disparity","owner":"tobybreckon","description":"a small selection of tools for calculating disparity and working with output from the CR MultiSense S21 stereo camera","archived":false,"fork":false,"pushed_at":"2020-10-22T01:26:30.000Z","size":37,"stargazers_count":26,"open_issues_count":0,"forks_count":3,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-03-30T21:33:15.411Z","etag":null,"topics":["opencv","rectified","stereo-vision"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"lgpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/tobybreckon.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-10-24T13:59:37.000Z","updated_at":"2024-09-01T14:02:03.000Z","dependencies_parsed_at":"2022-09-14T14:13:17.920Z","dependency_job_id":null,"html_url":"https://github.com/tobybreckon/stereo-disparity","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tobybreckon%2Fstereo-disparity","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tobybreckon%2Fstereo-disparity/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tobybreckon%2Fstereo-disparity/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tobybreckon%2Fstereo-disparity/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/tobybreckon","download_url":"https://codeload.github.com/tobybreckon/stereo-disparity/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252135405,"owners_count":21699893,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["opencv","rectified","stereo-vision"],"created_at":"2024-10-03T12:57:51.718Z","updated_at":"2025-05-03T02:52:52.156Z","avatar_url":"https://github.com/tobybreckon.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Stereo Vision Disparity Tools\n\na small selection of tools for calculating disparity and working with the rectified output from the CR MultiSense S21 stereo camera (and optional Yoctopuce GPS/IMU data if available)\n\nOpenCV Python computer vision examples used for teaching and research within the undergraduate Computer Science programme\nat [Durham University](http://www.durham.ac.uk) (UK) by [Prof. Toby Breckon](https://breckon.org/toby/).\n\nAll tested with [OpenCV](http://www.opencv.org) 3.x and Python 3.x.\n\n---\n\n### Tools\n\n- *stereo_disparity.py* – cycles through the dataset and calculates the disparity from the left and right stereo images provided.\n- *stereo_to_3d.py* – projects a single example stereo pair to a 3D, write a point cloud of this data to an ASCII X Y Z file for reference (which can be viewed via\nthis [online tool](http://lidarview.com/), another 3D point cloud viewer (e.g. [http://www.pointcloudviz.com/](http://www.pointcloudviz.com/)) or using the [open3d](http://www.open3d.org/) library) and shows an example back-projection from 3D to the 2D image.\n- *planar_fitting_hints.py* – a set of hints (aimed at Durham L3 2017/18 students) on how to efficiently use some of the advanced library features of Python to compute the coefficients of a plane from a given set of 3D points.\n- *mono_stream.py* –  cycles through the _left or right only_ image only from the dataset and displays GPS / IMU data if available (aimed at Durham L4 2017/18 students).\n- *gyro.py* - supporting function for mono_stream.py that converts IMU gyroscope readings to roll/pitch/heading angles when this data is available\n- *correlate.py* - cycle through a set of images from a directory and prints file names of images that strongly correlate with the one before it (i.e. not much, if anything has changed)\n---\n\n### How to download and run:\n\nDownload each file as needed or to download the entire repository and run each try:\n\n```\ngit clone https://github.com/tobybreckon/stereo-disparity.git\ncd stereo-disparity\n\n\u003c edit example with your favourite editor to set path to your rectified stereo data\n\npython3 ./\u003cinsert file name of one of the examples.py\u003e\n```\n---\n\n### Data Set Background\n\nInternal data sets that these tools are known to work with:\n\n- To The Bailey \u0026 Back (TTBB), Durham, 02-10-17 subsampling at 10 (TTBB-durham-02-10-17-sub10)\n- To The Bailey \u0026 Back (TTBB), Durham, 02-10-17 subsampling at 5 (TTBB-durham-02-10-17-sub5)\n\nOriginally recorded onboard via [ROS](http://www.ros.org) as the following topics:\n\n```\n/clock\n/multisense/left/image_rect_color\n/multisense/right/image_rect\n/yoctopuce/fix\n/yoctopuce/imu\n```\n\n---\n\n### References\n\nThe settings and approaches used in the above examples where informed and inspired by the following research work:\n\n- [Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow](https://breckon.org/toby/publications/papers/hamilton16removal.pdf) (O.K. Hamilton, T.P. Breckon), In Proc. International Conference on Image Processing, IEEE, pp. 3439-3443, 2016. [[pdf](https://breckon.org/toby/publications/papers/hamilton16removal.pdf)] [[doi](http://dx.doi.org/10.1109/ICIP.2016.7532998)]\n\n- [Quantitative Evaluation of Stereo Visual Odometry for Autonomous Vessel Localisation in Inland Waterway Sensing Applications](https://breckon.org/toby/publications/papers/kriechbaumer15vessel.pdf) (T. Kriechbaumer, K. Blackburn, T.P. Breckon, O. Hamilton, M. Riva-Casado), In Sensors, MDPI, Volume 15, No. 12, pp. 31869-31887, 2015. [[pdf](https://breckon.org/toby/publications/papers/kriechbaumer15vessel.pdf)] [[doi](http://dx.doi.org/10.3390/s151229892)]\n\n- [A Foreground Object based Quantitative Assessment of Dense Stereo Approaches for use in Automotive Environments](https://breckon.org/toby/publications/papers/hamilton13stereo.pdf) (O.K. Hamilton, T.P. Breckon, X. Bai, S. Kamata), In Proc. International Conference on Image Processing, IEEE, pp. 418-422, 2013.[[pdf](https://breckon.org/toby/publications/papers/hamilton13stereo.pdf)] [[doi](http://dx.doi.org/10.1109/ICIP.2013.6738086)]\n\n- [An Empirical Comparison of Real-time Dense Stereo Approaches for use in the Automotive Environment](https://breckon.org/toby/publications/papers/mroz12stereo.pdf) (F. Mroz, T.P. Breckon), In EURASIP Journal on Image and Video Processing, Springe, Volume 2012, No. 13, pp. 1-19, 2012. [[pdf](https://breckon.org/toby/publications/papers/mroz12stereo.pdf)] [[doi](http://dx.doi.org/10.1186/1687-5281-2012-13)]\n\n---\n\nIf you find any bugs raise an issue (or much better still submit a git pull request with a fix) - toby.breckon@durham.ac.uk\n\n_\"may the source be with you\"_ - anon.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftobybreckon%2Fstereo-disparity","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftobybreckon%2Fstereo-disparity","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftobybreckon%2Fstereo-disparity/lists"}