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stereo-reconstruction's Introduction

stereo-reconstruction

The Aim is to reconstruct a 3D structure, given the pair of stereo images.

Methodology

  1. first compute calibration matrix,baseline and projection matrices using information given in calibration_info.txt .
  2. compute disparity from two images.
  3. compute 3d pointcloud using disparity map genrated previously using baseline calibration matrix found above.

Run

    git clone https://github.com/sushlokshah/stereo-reconstruction.git
    cd stereo-reconstruction
      #Edit path.yaml file
      #image_1_path: [img_path]
      #image_2_path: [img_path]
      #calibration_info_path: [calibration_info path]
      #output_path: [folder path]
    python3 stereo_reconstruction.py
      #Result is obtained in output.ply at folder specified, which can be viewed using MeshLab, Open3D, or any other related software or library to view point clouds.

Result

Stereo Image 1 Stereo Image 2 Disparity Map 3d reconstruction

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