Filtering Disparity Map

asked 2019-03-10 21:54:56 -0600

WannabeEngr
6 ●1 ●3

updated 2019-03-11 02:26:13 -0600

LBerger
9317 ●2 ●20 ●88 http://www.traimaocv.fr

Any ideas on how to filter out these fluctuations? because it is messing up my generated disparity value, and I can't integrate my distance estimation algorithm.

My pre-processing was jus convert the input image into grayscale, and I only adjust WLS filter in its lambda & Sigma.

Any ideas on how to filter my depth map?? image description

edit retag flag offensive close merge delete

Comments

i might have no idea, but can you show, how you use the WLS filtering ? (maybe there's something more to tweak !)

berak ( 2019-03-11 02:22:38 -0600 )edit

WLS FILTER Parameters

lmbda = 70000
sigma = 2.0

wls_filter = cv2.ximgproc.createDisparityWLSFilter(matcher_left=stereo)
wls_filter.setLambda(lmbda)
wls_filter.setSigmaColor(sigma)

...

Using the WLS filter

filteredImg= wls_filter.filter(dispR,grayL,None,dispL)
filteredImg = cv2.normalize(src=filteredImg, dst=filteredImg, beta=0, alpha=255, norm_type=cv2.NORM_MINMAX);
filteredImg = np.uint8(filteredImg)
cv2.imshow('filteredImg', filteredImg)

WannabeEngr ( 2019-03-14 01:30:08 -0600 )edit

add a comment

Comments

Yes, it is in real time and I want to make it mobile, my project is to aid the blind through stereo vision & these fluctuations gives me a hard time. Okay i will try bilateral filter. Thanks!

WannabeEngr ( 2019-03-14 01:27:25 -0600 )edit

add a comment

Filtering Disparity Map

Comments

WLS FILTER Parameters

Using the WLS filter

1 answer

Comments

Links

Question Tools

Stats

Related questions

Filtering Disparity Map edit

Comments

WLS FILTER Parameters

Using the WLS filter

1 answer

Comments

Links

Question Tools

Stats

Related questions

Filtering Disparity Map