Dense 3D Reconstruction from Stereo
This is a ROS package for real-time 3D reconstruction from stereo images. Currently this version uses LIBELAS for generating dense disparity maps as a baseline. The method for generation of disparity maps can be changed based on user preferences.
This package serves as a visualization tool for dense disparity maps and point clouds. Additionally, a tool for transforming point clouds to a different reference frame is also included.
Usually, the point clouds are formed in the reference frame of the left camera. For ground robots, often the point clouds need to be transformed to a different frame e.g., a reference frame with the origin at the centre of rotation of the robot projected on to the ground plane. These transformations are hard to calculate mathematically - this tool can be used to find the transformations visually.
- Author: Sourish Ghosh
A calibrated pair of cameras is required for stereo rectification and calibration files should be stored in a
This repository contains all the tools and instructions to calibrate stereo cameras.
The rotation and translation matrices for the point cloud transformation should be named as
XT in the calibration file.
XR should be a 3 x 3
XT should be a 3 x 1 matrix. Please see a sample calibration file in the
Clone the repository:
$ git clone https://github.com/umass-amrl/stereo_dense_reconstruction
For compiling the ROS package,
rosbuild is used. Add the path of the ROS package to
ROS_PACKAGE_PATH and put the following line in your
PATH by the actual path where you have cloned the repository:
$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/PATH
$ cd stereo_dense_reconstruction $ chmod +x build.sh $ ./build.sh
Running Dense 3D Reconstruction
$ ./bin/dense_reconstruction [OPTION...]
Usage: dense_reconstruction [OPTION...] -l, --left_topic=STR Left image topic name -r, --right_topic=STR Right image topic name -c, --calib_file=STR Stereo calibration file name -w, --calib_width=NUM Calibration image width -h, --calib_height=NUM Calibration image height -u, --out_width=NUM Rectified image width -v, --out_height=NUM Rectified image height -d, --debug=NUM Set d=1 for cam to robot frame calibration
This node outputs the dense disparity map as a grayscale image on the topic
/camera/left/disparity_map and the corresponding point cloud on the topic
A sample dataset can be found here.
Point Cloud Transformation
The point cloud can be viewed on
rviz by running:
$ rosrun rviz rviz
To transform the point cloud to a different reference frame, the
XT matrices (rotation and translation) in the calibration file need to be changed.
This can be done real-time by the running:
$ rosrun rqt_reconfigure rqt_reconfigure
If you change the Euler Angles in
rqt_reconfigure you should be able to see the point cloud transform. Don't forget to set
d=1 when running the
dense_reconstruction node. This prints out the new transformation matrices as you transform the point cloud.
This software is released under the GNU GPL v3 license.