RE: [Vxl-users] Stereo depth map

[Wheeler, F. (Research) <wh...@cr...>]

> I am searching for a tool to create a depth map from 2 stereo images.
> Does someone have some research code on this matter ???

There is "dense_matcher_full" in contrib/gel/vsrl/examples, written by Peter Tu.  Here are some notes
I have on using the program, though I have used it very little.

2 images must be rectified
  point's correspondence must be in same row
search is limited to bounds set in parameter file
output image pixels are bound + movement rightward from L to R image

cost func is local correlation
dynamic program

parameter file
  best to keep same order
  no comments

Example parameter file
* def_params.dat (marked up)
correlation_range 10           # how far left and right
inner_cost 1.0                 # after overlapping region, cost of null hypoth
outer_cost 0.5                 # before overlapping region
continuity_cost 0.1            # control cost of non-continuity
correlation_window_width 20    # size of block
correlation_window_height 20   # size of block
bias_cost 0.2              # control cost is changing disparity from prev.line
common_intensity_diff 0.0      # regions uniform is diff < value
                               # affects declaration of no-texture
                               # affects bias cost

decrease correlation_window to get tighter fit
don't play with anything else

This is an implementation of what you can find in:
Three Dimensional Computer Vision
Olivier Faugeras
Sections
  6.3 Rectification
  6.4 Correlation techniques
  6.6 Dynamic programming