Variational Fisheye Stereo

Implementation of our paper submission for ICRA2020.

Menandro Roxas and Takeshi Oishi, "Real-Time Variational Fisheye Stereo without Rectification and Undistortion," arXiv preprint

Requirements

OpenCV, OpenCV Contrib (optflow) (tested with v4.10.0)
CUDA 10.1 (Including Samples for headers)
Visual Studio 2019

Building Instructions

The solution consists of two projects - stereotgv and test_vfs. stereotgv generates a static library from which test_vfs links. test_vfs generates a Win32 .exe file.

There is a lib_link.h header (for both project) that links the necessary libraries. Modify the directories:

#define LIB_PATH "D:/dev/lib64/"
#define CV_LIB_PATH "D:/dev/lib64/"
#define CUDA_LIB_PATH "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.1/lib/x64/"

to point to the location of OpenCV (CV_LIB_PATH) and CUDA (CUDA_LIB_PATH) .lib files.

At the same time, modify the Project Properties -> VC++ Directories -> (Executables, Includes, and Libraries) to point to the location of the OpenCV and CUDA builds, too.

Executable: D:/dev/bin
Includes: D:/dev/include
Libraries: D:/dev/lib64

Dataset

Real Dataset (144 image pairs with groundtruth depth): Dataset

Folder Structure:

calib - intrinsic camera matrix K, and transformation R, t between first->second image frames in OpenCV format .xml
image_02/data - first RGB image frame
image_03/data - second RGB image frame
proj_depth/groundtrutn - contains groundtruth depth for image_02
calibrationVector - calibration vector in .flo format
translationVector - trajectory field in .flo format
result_ours - our results for easy comparison (with visualization of disparity error)

Sample Results

INTEL Realsense T265: Video 01 Video 04 Video 07 Video 16 Video 19 Video 20 Video 21

To do

*CMake

License

This project is licensed under the MIT license

Author

Menandro Roxas, 3D Vision Laboratory (Oishi Laboratory), Institute of Industrial Science, The University of Tokyo

durswd / vfs