Stereo vision 3d scene reconstruction is flat

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Michal Vasat
Michal Vasat 2019-8-16
评论： Maryam 2023-9-15
Hi, i have a little problem here, i calibrated my stereo cameras, with rep. error 0.8, i picked 2 images, did disparity map, 3d scene reconstruction but the result is for some reason flat, here is my code, and the result.
clc
clear all
close all
load('C:\Users\PC\Documents\KUKA-3D-PROJEKT\P\stereoParams.mat');
showExtrinsics(stereoParams);
I1 = imread('C:\Users\PC\Documents\KUKA-3D-PROJEKT\picC3\Frame01.png');
I2 = imread('C:\Users\PC\Documents\KUKA-3D-PROJEKT\picC3\Frame101.png');
A = stereoAnaglyph(I1,I2);
figure
imshow(A)
J1 = rgb2gray(I1);
J2 = rgb2gray(I2);
figure
[J1, J2] = rectifyStereoImages(I1,I2,stereoParams);
disparityRange = [0 128];
disparityMap = disparityBM(rgb2gray(J1),rgb2gray(J2),'DisparityRange',disparityRange,'UniquenessThreshold',2)
figure
imshow(disparityMap,disparityRange)
title('Disparity Map')
colormap jet
colorbar
xyzPoints = reconstructScene(disparityMap,stereoParams);
xyzPoints = xyzPoints ./1000;
ptCloud = pointCloud(xyzPoints, 'Color', J2);
ptCloud = pointCloud(xyzPoints, 'Color', J1);
player3D = pcplayer([-4, 4], [-4, 4], [0, 10], 'VerticalAxis', 'x', ...
'VerticalAxisDir', 'down');
view(player3D, ptCloud);
xyzPoints = xyzPoints ./1000;
ptClourd = pointCloud(xyzPoints, 'Color', J2);
player3d = pcplayer([-4, 4], [-4, 4], [0, 10], 'VerticalAxis', 'y', ...
'VerticalAxisDir', 'up');
As u can see the board and the box is flat, but irl the box is 22 mm.
What am i doing wrong here ?
  1 个评论
Prabhan Purwar
Prabhan Purwar 2019-8-29
Plss attach stereoParams.mat, Frame01.png and Frame101.png files to recreate the 3D map.

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回答（1 个）

Prabhan Purwar
Prabhan Purwar 2019-8-30
Hey,
Attached code seems good, although with a minor problem like ptCloud is overwritten. It seems like input images or stereoParams.mat files are not able to meet the code requirements.
Please have a look over the following code, it makes use of MATLAB default images and stereoParams as inputs and gives 3D Reconstructed scene as output.
load('webcamsSceneReconstruction.mat');
%Read in the stereo pair of images.
I1 = imread('sceneReconstructionLeft.jpg');
I2 = imread('sceneReconstructionRight.jpg');
%Rectify the images.
[J1, J2] = rectifyStereoImages(I1,I2,stereoParams);
%Display the images after rectification.
figure
imshow(cat(3,J1(:,:,1),J2(:,:,2:3)),'InitialMagnification',50);
%Compute the disparity.
disparityMap = disparitySGM(rgb2gray(J1),rgb2gray(J2));
figure
imshow(disparityMap,[0,64],'InitialMagnification',50);
%Reconstruct the 3-D world coordinates of points corresponding to each pixel from the disparity map.
xyzPoints = reconstructScene(disparityMap,stereoParams);
xyzPoints = xyzPoints ./1000;
%J1 = cat(3,J1,J1,J1);
ptCloud = pointCloud(xyzPoints,'Color', J1);
player3D = pcplayer([-4, 4], [-4, 4], [0, 10], 'VerticalAxis', 'x', ...
'VerticalAxisDir', 'down');
%pcshow(ptCloud)
view(player3D, ptCloud);
Outputs:
Image after rectification.
Disparity map
3D Reconstructed map
Please go through the following links for more deeper understanding of the code.
Links:
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Michal Vasat
Michal Vasat 2019-8-30
i've tried this calibration session rn, still the same problem.0Brn.png
Maryam
Maryam 2023-9-15
hi
where i can find the MATLAB default images and stereoParams that you used?

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