Quick Start
- customize the data_root in which contains images pairs and imglist(an xml file)
- set do_calib to 1 if you haven't calibrated the camera using images in your data folder
- customize the w, h, s (parameter of the chessboard you use)
- customize l and r so that this pair of images are used for rectifying & computing disparity
- set algorithm you want to use for stereo matching
- if you are not using sgbm/bm for stereo matching, you don't have to care about these parameter: filter. no-downscale, max_disparity, window_size, wls_lambda, wls_sigma, vis_mult
- Run main.cpp. (StereoCalib->StereoRect->compute disparity)
Core Function, Tools and Utils
| Function | introduction |
|---|---|
| StereoCalib | use findChessboardCorners, initCameraMatrix2D, stereoCalibrate in opencv library |
| StereoRect | use stereoRectify, initUndistortRectifyMap, remap in opencv library |
| computeSAD | stereo matching, SAD |
| disparity_filter | stereo matching, SGBM/BM |
| extConvert | manipulate string of image's file name. Example: input (img.jpg,png), output img.png |
| on_mouse | define the action when the user clicks some point of the disparity image |
Folder Hierarchy
/data/20191211/
|- imglist.xml
|- 20191211_080322_049__0_22.80.jpg
|- 20191211_080322_049__1_22.80.jpg
|- ......
|- output/
|- extrinsics.yml
|- intrinsics.yml
|- rectified_20191211_080322_049__0_22.80.jpg
|- rectified_20191211_080322_049__1_22.80.jpg
|- disp.jpg
|- disp_color.jpg
|- log_click
Project Properties
in Project Properties Manager, you can add existing property sheet(SVDrive/env_opencv.props) when you are creating new projects.