CvStereo - DisCODe Component Library

Description

DCL containing components and tasks realted to aquisition and processing of depth maps/point clouds from stereopairs.

Dependencies

OpenCV - version 2.4.8

PCL - version 1.7.1.

CvCoreTypes - DisCODe DCL

Datasets

Call make dataset from the build directory in order to download and unrar the files required by exemplary tasks.

• data/bible_lr - contains images acquited from left and right camera of the Velma's active head
• data/bible_rgbxyz - dataset containing RGB-D images (pairs of RGB and XYZ files)

Tasks

Velma acquisition:

• VelmaStereoLRViewer - Displays left and right images acquired from the stereo pair mounted on Velma head. Enables writing of LR pairs to files.
• VelmaStereoToRGBXYZViewer - Displays a stereo (RGB and depth XYZ) images acquired from Velma (LR) cameras. Enables writing of RGB-XYZ pairs to files (in png and yml format respectivelly).
• VelmaStereoCameraToCloudViewer - Acquires stereo images from Velma head and transforms them into coloured point clouds. Enables saving of point clouds to PCD files.

Stereo sequences from files:

• StereoLRSequenceViewer - Displays a sequence of left and right images acquired from a stereo pair.

• StereoLRSequenceToRGBXYZViewer - Displays a sequence of stereo (RGB and depth XYZ) images generated from pairs of left-right (LR) camera images. Enables writing of RGB-XYZ pairs to files (in png and yml format respectivelly).

• StereoLRSequenceToCloudViewer - Displays point clouds generated from a sequence of stereo-images (LR). Enables writing of point cloud to PCD files.

• StereoRGBXYZSequenceViewer - Displays a sequence of stereo-images (RGB and depth XYZ).

Developers

Dawid Kaczmarek (frikodwid@gmail.com)

Łukasz Żmuda (lukzmuda1@gmail.com)

Maintainer

Tomasz Kornuta (tkornuta@gmail.com)