StereoSGBM Parameters based on Camera parameters?

asked 2013-07-05 15:55:30 -0600

I have two identical cameras and I am taking two images and trying to find the disparity map. I am getting a good disparity map but I'd like to improve it. I am using StereoSGBM method to get the disparity map. I was wondering if it's possible to set StereoSGBM parameteres based on Camera Calibration and it's parameters. If yes, could someone give me some reading material if possible?

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answered 2013-07-08 09:19:37 -0600

jensenb
730 ●11 ●18

For some parameters this makes sense, like the minimum disparity and number of disparity values, but the rest of the parameters are largely independent of particular camera system used. They are highly dependent on the scene being viewed though.

The disparity of an object in the scene is related to the focal length of the camera, the baseline between the two cameras and depth of the object by the formula: image description where d is the disparity in pixels, f the focal length in pixels, B the baseline in metric, and the z the depth in metric. Assuming you know the rough depth of objects you expect to observe with your camera, and by knowing your camera's focal length along the stereo axis, and the stereo baseline, you can determine the valid disparity range.