StereoVisionLibrary

Depth reconstruction using stereo vision

Requirements

2 USB Cameras connected via USB.
OpenCV 3.0.0
PCL 1.2 (Optional: for stereomatch)
CMake

Building

go to root directory of StereoVisionLibrary
$ cmake .
$ make -j2

Running

Calibration and Rectification: ./stereocalib -n_boards -b_width -b_height -c_size
-n_boards: number of board positions to be taken into account eg. 20
-b_width: no. of chessboard corners along the width - 2
-b_height: no. of chessboard corners along the height -2
-c_size: size of the squares in cm

Testing Epipolar Rectification: ./stereotest

Running Block Matcher for disparity maps: ./stereomatch

#Examples Following are examples of disparity maps generated from stereo views


Demo video showing Depth reconstruction on the Karlsruhe stereo vision dataset can be found here.