omkarchittar / Stereo_Depth_Estimation

Implementing the concept of Stereo Vision. We are given 3 different datasets, each of them containing 2 images of the same scenario but taken from two different camera angles. By comparing the information about a scene from 2 vantage points, we can obtain the 3D information by examining the relative positions of objects.

Stereo Depth Estimation

Overview

The code estimates the depth by creating a disparity map using the frames of a scene observed by a stereo-camera setup. This is done by correcting the epi-lines.

File Tree

+-data
  +- artroom
    +- 2 images and calibration data
  +- chess
    +- 2 images and calibration data
  +- ladder
    +- 2 images and calibration data
+-main
+-README.md
+-report.pdf

Note - Please make changes in the main.py for variable "data" as "1", or "2", or "3" for artroom, chess and ladder repectively.

Installation and Running

1. Download and extract the files.

2. Run the code main.py using the following command in your terminal python3 main.py The terminal displays the following:

• Fundamental Matrix

• Essential Matrix

• Rotation

• camera center

• Rectification homographies

• 1st pop up window: matching features on the two images.

• 2nd pop up window: reprojected points

• 3rd pop up window:

4. A detailed report of the entire project is given in report.pdf