Quality of disparity map
Posted: Sat May 02, 2020 7:59 pm
Hello,
I've tried to make the disparity map with my own fisheye stereo cameras, according to the article
https://stereopi.com/blog/opencv-compar ... reo-vision
and the scripts from
https://github.com/realizator/stereopi-fisheye-robot
I've successfully calibrated the cameras, the undistortion results are good, but the disparity map computed from the two images are totally not satisfying.
Following are the images taken with the two cameras and the disparity result: as you can see, there are several problems in the disparity map:
1. There are many noises in the map.
2. The color of the ground, the walls and the closets are all dark blue, it means the code can't compute their disparity, unlike the example showed in the tutorial: even thouth I used the same parameters.
3. Even if I change the parameters, I could only reduce the noises and get the disparity of the contours, instead of the objects.
No metter how I change the parameters, I still can't get the satisfying result. Could you point out the possible mistakes I've made, or something important I might have ignored? What I should do to get at least a "filled' disparity map, not just contours with noises? Should I do something like Pre- and Post-processing? Or could you at least give me a direction, I have totally no idea what I should do now.
Thanks a lot!
I've tried to make the disparity map with my own fisheye stereo cameras, according to the article
https://stereopi.com/blog/opencv-compar ... reo-vision
and the scripts from
https://github.com/realizator/stereopi-fisheye-robot
I've successfully calibrated the cameras, the undistortion results are good, but the disparity map computed from the two images are totally not satisfying.
Following are the images taken with the two cameras and the disparity result: as you can see, there are several problems in the disparity map:
1. There are many noises in the map.
2. The color of the ground, the walls and the closets are all dark blue, it means the code can't compute their disparity, unlike the example showed in the tutorial: even thouth I used the same parameters.
3. Even if I change the parameters, I could only reduce the noises and get the disparity of the contours, instead of the objects.
No metter how I change the parameters, I still can't get the satisfying result. Could you point out the possible mistakes I've made, or something important I might have ignored? What I should do to get at least a "filled' disparity map, not just contours with noises? Should I do something like Pre- and Post-processing? Or could you at least give me a direction, I have totally no idea what I should do now.
Thanks a lot!