An implementation of multi-layered stixel computation
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README.md

multilayer-stixel-world

An implementation of multi-layered stixel computation

stixel-world

Description

  • An implementation of the Multi-Layered Stixel computation based on [1].
  • Extracts the Stixels from the input disparity map.
  • Allows for multiple Stixels along every column.

References

Demo

Requirement

  • OpenCV
  • OpenMP (optional)

How to build

$ git clone https://github.com/gishi523/multilayer-stixel-world.git
$ cd multilayer-stixel-world
$ mkdir build
$ cd build
$ cmake ../
$ make

How to run

./stixelworld left-image-format right-image-format camera.xml
  • left-image-format
    • the left image sequence
  • right-image-format
    • the right image sequence
  • camera.xml
    • the camera intrinsic and extrinsic parameters

Example

./stixelworld images/img_c0_%09d.pgm images/img_c1_%09d.pgm ../camera.xml

Data

Performance

  • The Stixel computation runs around 50 ms in following setup
    • CPU : Core-i7 6700K(4.00 GHz/4Core/8T)
    • Image size : 1024 x 333 pixel
    • Stixel width : 7 pixel
    • with OpenMP

Author

gishi523