Parallax: Compute Parallax for difference between two images

• Test Pair

  Image 1	Image 2

1. Dependencies

• OpenCV 3.2.0, OpenCV Contrib 3.2.0, C++ 11 version

2. Methodology to apply feature matching

• [BASIC] Use this Github Page Feature Matching
• [ADD] Optical Flow Method

3. Build and Run

Clone the repository and build and run simultaneously:

   $ cd ${workspace}
   $ git clone https://github.com/SungJaeShin/Parallax.git
   $ cd Parallax
   $ sh compile_parallax_code.sh

4. Results (EuRoC dataset)

• [BEST CASE] Best Results btw "cand_1_3" and "cand_1_25"

  ["cand_1_3" and "cand_1_25"]
  max dx: 12.2113, max dy: 108.67, max dist: 109.316
  avg dx: 11.7414, avg dy: 106.379, avg_dist: 107.026
  
  before filtering correspondence pair: 41
  optical flow corresponedence pair: 37
  after filtering correspondence pair: 13
  
  ["cand_1_25" and "cand_1_3"]
  max dx: 12.2113, max dy: 102.987, max dist: 103.708
  avg dx: 10.9453, avg dy: 100.462, avg_dist: 101.058
  
  before filtering correspondence pair: 32
  optical flow corresponedence pair: 17
  after filtering correspondence pair: 14
  

  • Results "cand_1_3" and "cand_1_25" using SIFT + DAISY

    

  • Results "cand_1_25" and "cand_1_3" using SIFT + DAISY

    

• [SIFT & SURF CASE] Parallax Results btw "cand_1_3" and "cand_1_35"

  [Before Filtering]
  max dx: 53.6179, max dy: 27.4187, max dist: 305.486
  avg dx: 16.4145, avg dy: 10.3494, avg dist: 27.3653
  
  [After Filtering]
  max dx: 24.8738, max dy: 20.0451, max dist: 24.9846
  avg dx: 15.0051, avg dy: 16.2881, avg_dist: 22.3998
  
  before filtering correspondence pair: 69
  optical flow corresponedence pair: 69
  after filtering correspondence pair: 63
  

  • Original Method using Feature Matching

    

  • Filtered using optical flow method

    

  • Filtered using parallax method

    

  • Failure case using parallax method

    

• [ORB & SURF CASE] Parallax Results btw "cand_1_3" and "cand_1_35"

  [Before Filtering]
  max dx: 54.5472, max dy: 336.038, max dist: 340.437
  avg dx: 15.6673, avg dy: 18.3601, avg dist: 24.8476
  
  [After Filtering]
  max dx: 18.72, max dy: 21, max dist: 25.2389
  avg dx: 14.2445, avg dy: 17.2931, avg_dist: 22.4969
  
  before filtering correspondence pair: 215
  optical flow corresponedence pair: 211
  after filtering correspondence pair: 203
  

  • Original Method using Feature Matching

    

  • Filtered using optical flow method

    

  • Filtered using parallax method

    

• [Solve Failure CASE] Using DAISY btw "cand_1_3" and "cand_1_35"

  [GFTT + SURF CASE]
  max dx: 0, max dy: 0, max dist: 0
  avg dx: -nan, avg dy: -nan, avg_dist: -nan
  
  before filtering correspondence pair: 11
  optical flow corresponedence pair: 11
  after filtering correspondence pair: 11
  
  [GFTT + DAISY CASE]
  max dx: 20, max dy: 21, max dist: 25.807
  avg dx: 14.7667, avg dy: 16.1333, avg_dist: 21.9977
  
  before filtering correspondence pair: 36
  optical flow corresponedence pair: 36
  after filtering correspondence pair: 34
  

  • [GFTT + SURF CASE] Final Results

    

  • [GFTT + DAISY CASE] Final Results