Madhunc5229/stereo-vision

stereo-vision

This program conatins a stereo vision pipeline system.Steps taken to build the stereo vision system are:
Calibration:
Match the feature points
Estimate the fundamental matrix using RANSAC
Obtain Essential Matrix using K matrix and fundamental matrix Decompose Essential Matrix into T and R components Rectificy the images using homography and plot the epipolar lines
Calculate disparity and compare the windows in both images
Compute depth using baseline and focal length of the camera

Dependencies

• Python
• Opencv 4.1.0
• Numpy
• Matplotlib

Steps to run the package

1.Clone the project

git clone https://github.com/Madhunc5229/stereo-vision

2.cd into the code folder and the run the python file

cd/stereo-vision/code  
python3 curule.py
python3 octagon.py
python3 pendulum.py

Feature matching

Rectifing and plotting the epipolar lines

Disparity Gray scale image

Disparity Gray heat map

Depth gray scale image

Depth heat map