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Questions tagged [disparity-mapping]

192 questions
176
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2 answers

OpenCV – Depth map from Uncalibrated Stereo System

I'm trying to get a depth map with an uncalibrated method. I can obtain the fundamental matrix by finding correspondent points with SIFT and then using cv2.findFundamentalMat. I then use cv2.stereoRectifyUncalibrated to get the homography matrices…
user3601754
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1 answer

What is the definition of a "disparity map"?

I've been asked to implement an edge-based disparity map, but I fundamentally don't understand what a disparity map is. What is the definition of a "disparity map"?
jmnwong
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46
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2 answers

What is the difference between a disparity map and a disparity image in stereo matching?

I am new to stereo matching. I couldn't understand the concept of disparity. What are a disparity map and disparity image, and what is the difference between them?
user2522560
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11
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2 answers

Documentation of CvStereoBMState for disparity calculation with cv::StereoBM

The application of Konolige's block matching algorithm is not sufficiantly explained in the OpenCV documentation. The parameters of CvStereoBMState influence the accuracy of the disparities calculated by cv::StereoBM. However, those parameters are…
Simon Oelmann
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9
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2 answers

Q matrix for the reprojectImageTo3D function in opencv

I am doing a project in opencv to detect obstacle in the path of a blind person using stereo calibration. I have calculated the disparity map correctly. Now to find the distance of obstacle from the camera, I want its 3D coordinates [X,Y,Z] , which…
g.alisha12
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9
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1 answer

Stereo vision: Depth estimation

I am working on Stereo vision task and I would like to get the distance between stereo vision cameras and the object. I am using Matlab with Computer Vision System Toolbox. I have calibrated cameras with using "Camera Calibration Toolbox for Matlab"…
PrincAm
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1 answer

Emgu (OpenCV for C#) - building a disparity map using cvStereoRectify

I've been using the great Emgu C# wrapper for OpenCV to collect images from a home built stereo rig. Two webcams bolted down to a piece of wood, 35cm apart to hopefully let me produce depth maps in the 10-20m range. I've set them up to be as…
timemirror
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7
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2 answers

Problems with opencv stereoRectifyUncalibrated

I've been trying to rectify and build the disparity mappping for a pair of images using OpenCV stereoRectifyUncalibrated, but I'm not getting very good results. My code is: template T convertNumber(string& number) { istringstream…
Alberto A
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6
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Absolute depth from iPhone X back camera using disparity from AVDepthData?

I'm trying to estimate the absolute depth (in meters) from an AVDepthData object based on this equation: depth = baseline x focal_length / (disparity + d_offset). I have all the parameters from cameraCalibrationData, but does this still apply to an…
Wes W.
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1 answer

What is the difference between cv2.StereoSGBM_create() and cv2.StereoBM_create() functions for disparity mapping on opencv3?

I am trying to understand the disparity mapping functions of opencv I came across two methods cv2.StereoSGBM_create and cv2.StereoBM_create I don't quite understand the difference. Also, what are the properties of the functions such as…
BigZee
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Point Cloud from KITTI stereo images

I try to create a Point Cloud based on the images from the KITTI stereo images dataset so then later I could estimate 3D position of some objects. Original images looks like this. What I have so far: generated disparity with…
EugeneB
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6
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2 answers

bad Disparity map using opencv StereoBM

I am trying to use StereoBM to get disparity map of two images. I tried some sample code and images. They are working fine. However, when I try my own images, I got very bad map, very noisy. my StereoBM parameters sbm.state->SADWindowSize =…
fnhdx
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1 answer

Stereo Disparity map generation

I am working on KITTI data set i am taking 2 images and finding the disparity to get 3D point cloud .The problem which i am facing is that i am not able to get a good disparity map.Most of the disparity value is less than 0.1 .The disparity values…
shashank bhushan
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6
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2 answers

OpenCv depth estimation from Disparity map

I'm trying to estimate depth from a stereo pair images with OpenCV. I have disparity map and depth estimation can be obtained as: (Baseline*focal) depth = ------------------ (disparity*SensorSize) I have used Block…
Speed87
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Calculate distance (disparity) OpenCV

-- Update 2 -- The following article is really useful (although it is using Python instead of C++) if you are using a single camera to calculate the distance: Find distance from camera to object/marker using Python and OpenCV Best link is Stereo…
Odrai
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