I'm facing an issue, and would like some inputs from the community on how to improve the disparity map. I'm following this tutorial for calculating the disparity map between 2 images. The code I have is as follows:
import cv2
import numpy as np
import sys
from matplotlib import pyplot as plt
num_disparities = 64 # number of disparities to check
block = 9 # block size to match
def preprocess_frame(path):
image = cv2.imread(path, 0)
image = cv2.equalizeHist(image)
image = cv2.GaussianBlur(image, (5, 5), 0)
return image
def calculate_disparity_matrix(args):
left_image = preprocess_frame(args[1])
right_image = preprocess_frame(args[2])
rows, cols = left_image.shape
kernel = np.ones([block, block]) / block
disparity_maps = np.zeros(
[left_image.shape[0], left_image.shape[1], num_disparities])
for d in range(0, num_disparities):
# shift image
translation_matrix = np.float32([[1, 0, d], [0, 1, 0]])
shifted_image = cv2.warpAffine(
right_image, translation_matrix,
(right_image.shape[1], right_image.shape[0]))
# calculate squared differences
SAD = abs(np.float32(left_image) - np.float32(shifted_image))
# convolve with kernel and find SAD at each point
filtered_image = cv2.filter2D(SAD, -1, kernel)
disparity_maps[:, :, d] = filtered_image
disparity = np.argmin(disparity_maps, axis=2)
disparity = np.uint8(disparity * 255 / num_disparities)
disparity = cv2.equalizeHist(disparity)
plt.imshow(disparity, cmap='gray', vmin=0, vmax=255)
plt.show()
def calculate_disparity_inbuilt(args):
left_image = preprocess_frame(args[1])
right_image = preprocess_frame(args[2])
rows, cols = left_image.shape
stereo = cv2.StereoBM_create(numDisparities=num_disparities,
blockSize=block)
disparity = stereo.compute(left_image, right_image)
plt.imshow(disparity, cmap='gray', vmin=0, vmax=255)
plt.show()
The problem is that the output that I get from the inbuilt function in OpenCV is hardly similar to the one I've implemented. I was expecting at least a slight similarity between the 2. Is this expected? or am I doing something wrong here?
