Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/tobybreckon/stereo-disparity
a small selection of tools for calculating disparity and working with output from the CR MultiSense S21 stereo camera
https://github.com/tobybreckon/stereo-disparity
opencv rectified stereo-vision
Last synced: 23 days ago
JSON representation
a small selection of tools for calculating disparity and working with output from the CR MultiSense S21 stereo camera
- Host: GitHub
- URL: https://github.com/tobybreckon/stereo-disparity
- Owner: tobybreckon
- License: lgpl-3.0
- Created: 2017-10-24T13:59:37.000Z (about 7 years ago)
- Default Branch: master
- Last Pushed: 2020-10-22T01:26:30.000Z (about 4 years ago)
- Last Synced: 2024-10-04T12:57:40.457Z (about 1 month ago)
- Topics: opencv, rectified, stereo-vision
- Language: Python
- Homepage:
- Size: 36.1 KB
- Stars: 26
- Watchers: 2
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Stereo Vision Disparity Tools
a 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)
OpenCV Python computer vision examples used for teaching and research within the undergraduate Computer Science programme
at [Durham University](http://www.durham.ac.uk) (UK) by [Prof. Toby Breckon](https://breckon.org/toby/).
All tested with [OpenCV](http://www.opencv.org) 3.x and Python 3.x.
---
### Tools
- *stereo_disparity.py* – cycles through the dataset and calculates the disparity from the left and right stereo images provided.
- *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
this [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.
- *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.
- *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).
- *gyro.py* - supporting function for mono_stream.py that converts IMU gyroscope readings to roll/pitch/heading angles when this data is available
- *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)
---
### How to download and run:
Download each file as needed or to download the entire repository and run each try:
```
git clone https://github.com/tobybreckon/stereo-disparity.git
cd stereo-disparity
< edit example with your favourite editor to set path to your rectified stereo data
python3 ./
```
---
### Data Set Background
Internal data sets that these tools are known to work with:
- To The Bailey & Back (TTBB), Durham, 02-10-17 subsampling at 10 (TTBB-durham-02-10-17-sub10)
- To The Bailey & Back (TTBB), Durham, 02-10-17 subsampling at 5 (TTBB-durham-02-10-17-sub5)
Originally recorded onboard via [ROS](http://www.ros.org) as the following topics:
```
/clock
/multisense/left/image_rect_color
/multisense/right/image_rect
/yoctopuce/fix
/yoctopuce/imu
```
---
### References
The settings and approaches used in the above examples where informed and inspired by the following research work:
- [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)]
- [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)]
- [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)]
- [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)]
---
If you find any bugs raise an issue (or much better still submit a git pull request with a fix) - [email protected]
_"may the source be with you"_ - anon.