Stereo SGBM for single pixel

asked 2017-07-12 05:41:49 -0500

I am working in a stereo vision system with epipolar geometrics within 10º angles between cameras.

I am trying to figure out how to get the position (throught disparity) of a ROI of my image which I get using open tld system.

With the extrinsic and intrinsic matrix of my system, I prepare and launch ssgbm in order to get the disparity map. Finally, with this disparity and my Q matrix, I calculate the position of the center of my ROI and in fact, my object.

The point is, that now that I have completed all this integration, I am having timing issues.

For now, I am trying to find a way to calculate the disparity with this method only for this pixels. I have been studying the code of the opencv Stereo SGBM algorithm implementation, I was thinking, maybe I would be able to modify it to my purpose, but I was wrong and now I am more confused.

Could anyone give me a clue or tell me if I there is a easier way?

What I have:

  • I have passed throught all the stereocalibration and stereorectification steps.
  • I am able to retrieve the position of an object in real world coordinates with origin in left.

What I want:

  • Reach a faster implementation of this method, by calculating only Stereo SGBM of my ROI discarding the rest of the images disparities which I don't mind.

Thanks for your attention and help.

edit retag flag offensive close merge delete

Comments

Did you try to use 3way mode ins sgbm? Did you try to calculate disparity for downscaled images? Did you try stereobm + post filtering (http://docs.opencv.org/master/d3/d14/...

mshabunin gravatar imagemshabunin ( 2017-07-12 15:08:38 -0500 )edit

I didn't try the first to option (or I think I haven't tried). I will look around about this way. About the second option, yes, I have downscale the image size its half. For stereobm, it does not give me the accuracy I am looking for, and the link you post is broken..

Cesar Hoyos gravatar imageCesar Hoyos ( 2017-07-13 00:51:20 -0500 )edit
1
mshabunin gravatar imagemshabunin ( 2017-07-13 14:48:03 -0500 )edit