StereoVisionSystem

Instructions to Run the Program

git clone https://github.com/sumedhreddy90/StereoVisionSystem.git
cd StereoVisionSystem
cd code 
python3 depth_estimation.py

Inputs

1. curule dataset
2. octagon dataset
3. pendulum dataset

Please select the dataset to determine the depth estimate: 2

Outputs

Calibration Image Processing:

Fundamental Matrix : [[-4.01998335e-10 -2.06586677e-08 3.47888159e-05] [ 4.92569519e-08 -1.00397767e-07 -1.66207555e-03] [-4.74547906e-05 1.71957189e-03 -2.40244547e-03]]

Essential Matrix: [[-4.72041496e-04 -2.28067026e-02 1.49934322e-02] [ 5.10735428e-02 -5.27644655e-02 -9.97204888e-01] [-9.83596848e-03 9.98268008e-01 -5.29988959e-02]]

Estimated Rotation: [[ 0.99961331 -0.00248165 0.02769617] [ 0.00393755 0.99860595 -0.05263693] [-0.02752694 0.05272563 0.99822957]]

Estimated translation: [0.99962734 0.01377738 0.02356598]

Rectification Image Processing:

Correspondence Image Processing:

Depth Image Processing: