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Where is the extrinsics file for the aloe plant for reprojection?

asked 2016-05-23 03:04:09 -0600

bymulker gravatar image

updated 2016-05-23 06:52:28 -0600

Hi community,

I was just tracking the samples shipped with OpenCV created the disparity map for the aloe plant but cannot reproject3d as i cannot find the extrinsics file in the samples directory. I know this is a loser question :) maybe someone can point out a better example data set?

The example file is ; /opencv\sources\samples\cpp\stereo_match.cpp

..but this is a console program and expects the file names as the parameters which i do not know where to get. I'm assuming the right intrinsics file is the 'intrinsics.yml' file found in /opencv\sources\samples\data, but it is impossible without having the extrinsics to reproject3d. The disparity map settings is as follows for those who might be interested:

sStereo->alg = StereoCameraRig::STEREO_SGBM;
  sStereo->SADWindowSize = 11;
  sStereo->numberOfDisparities = 192;
  sStereo->preFilterCap = 4;
  sStereo->minDisparity = -64;
  sStereo->uniquenessRatio = 1;
  sStereo->speckleWindowSize = 150;
  sStereo->speckleRange = 1;
  sStereo->disp12MaxDiff = 1;
  sStereo->P1 = 600;
  sStereo->P2 = 2400;
  sStereo->textureThreshold = 500;


  stRig.getDisparityMap(viewL, viewR, dispMap, false);

  normalize(dispMap, disp8, 0, 255, CV_MINMAX, CV_8U);

  showImage(disp8, true);

Thank you very much!

(This is my first post (hope will not be the last!) and it is my pleasure to be here in such a great library's forum with you.)

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answered 2016-05-23 14:39:24 -0600

Eduardo gravatar image

You can find the ground truth disparity map for the Aloe plant image here:

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Thanks but the datasets before 2014 dont have any sufficient calib. data. I downloaded the bicycle from here : which has calib data and wrote a little utility to read in c++. The cameras are co-planar for all samples in the directory so it should be straightforward to build Q matrix. I already reprojected but the result is somewhat noisy and the bicycle seems to be hole! (out of disparity range)

bymulker gravatar imagebymulker ( 2016-05-24 08:19:44 -0600 )edit

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Asked: 2016-05-23 03:04:09 -0600

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Last updated: May 23 '16