Stereo-Depth-map-generation-3D-Reconstruction

The goal of this repository is to generates depth maps from a stereo pair of images and to perform 3D reconstruction on these set of images. The images were captured from a fisheye stereo camera. The camera is calibrated using the omnidirectional camera calibration toolbox here. The calibration images can be found here and here. After calibration a .yml file is generated which stores all the calibration parameters.

Files included

This repository consists:

• main.cpp (calibration,recification and depth map generation )
• depth_filter.cpp (depth map generation for rectified images using filters)

Dependencies

• OpenCV-3.3.0
• cmake

Pipeline

• Calibrate camera - camera intrinsics and extrinsic parameters
• Rectify Image - Align image pixels on epipolar lines to aid in disparity generation
• Generate depth maps
• Perform 3D reconstruction- Project 2d pixels into its real world 3D coordinates,

Run Instructions

git clone 
cd stereo-depth-reconstruction
mkdir build
cd build
cmake ..
make
./main 

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Results

• Uncalibrated Image

• Calibrated and rectified Image

• Depth Image

• More results cann be found in here