GAAS Opencv Disparity Map Tuner with ROS

Working In Progress

Default Topics

you have to modify them in .CPP manually for now
left image topic : /mynteye/left/image_rect
right image topic: /mynteye/right/image_rect

To Build

mkdir build
cd build
cmake ..
make

To Use

1. play a bag containing left and right images topics 
2. launch roscore (if you haven't)
3. ./bin/run

StereoCorrespondenceBM Tuner

Description

A GUI to update the parameters, and watch the results live, of the block-matching algorithm of OpenCV, used for computing depth maps when doing stereovision.

Installation

You will need to install:

• Qt 5 (for the GUI)
• OpenCV

Linux

Install the packages for Qt 5 and OpenCV. It should work out of the box.

Mac OS X

Download and install Qt 5 from their website. I've installed OpenCV with Homebrew, but it probably doesn't matter if you install it with another way. This program uses pkg-config to include the library OpenCV in Qt's project. Since pkg-config is not standard on Mac OS X, to make it work, you will need to add PATH=/usr/local/bin:$PATH to the file /etc/launchd.conf. See here for details.

Windows

You will have to find out yourself how to include the library OpenCV in Qt, since pkg-config is not supported on Windows. I don't know ;)

Launch the program

Once Qt 5 and OpenCV installed, clone this repo, open the .pro file, it should launch the project in Qt 5 and you will be able to run the program, and modify it.

Useful links

• OpenCV documentation for StereoBM attributes
• StereoBM attributes default values
• my test images

Contribute

Pull requests are welcome.

This software is inspired by another described here. However, I wasn't satisfied with it, and it works only on Gnome (used by Ubuntu).

TODO

• accept image drops for left and right image areas

Licence

GPL