StereoDepth

Software workflow for Stereo Camera Depth

How to clone (IMPORTANT!):

git clone https://github.com/zhu-ty/StereoDepth
cd StereoDepth
git submodule init
git submodule update

Make sure you have clone the submodule.

Please report any cmake bug to me via my email. (Not very sure that this cmake can work for all)

Camera Calibration

Use calibration board and capture images at same time (Cpp Project StereoAcquisition)

Pick image pairs and do the calibration (Cpp Project StereoCalibration)

Retrive extrinsics & intrinsics

DepthMap Caculation

Put camera at right place & capture 1 clear image pairs (Cpp Project GenCameraDriver)

Do the rectify on 2 cameras and resize image back to origin size (Cpp Project ImageRectify)

Do the Liuce's Optical Flow (Matlab Project OpticalFlow_LiuCe)

[Do the FlowConvert for HDR warping (Matlab Project FlowConvert)]

Convert disparity to depth map & use real depth(Baidu Map) to manipulate depth map (eg. A building)

Convert real depth to distance from center point (Use K matrix) (Matlab Project DepthRefine Part I)

Do the disparity warping for panorama depth refine (Cpp Project DisparityWarping)

Do the depth refine to smooth map (Matlab Project DepthRefine Part II)