StereoMatching

Implementation of some stereo matching algorithms and confidence measures using OpenCV:

stereo::costs

namespace qith three different cost function, absolute difference, truncated absolute difference and squarred difference

stereo::disp

namespace with function to compute a DSI given left and right image or to obtain a disparity map given a DSI:

• singlePixeDisparity: compute cost function on couples of pixel taken from left and right image.
• fixedWindowDisparity: compute cost function agregating cost in a square support surrounding the current pixel
• fixedWindowBG: as the normal fixed window, but speeded-up using box filtering
• getDisparityRange: returns a vector to be used with the funciton above given the max disparity allowed and if we are matching left to right or right to left
• getDisparity: given a DSI produces a disparity map normalized between 0 and 255

stereo::sgm

namespace with function used to apply the sgm[1] optimization alghoritm

• scanlineOptimization: recompute cost across a single scanline identified by previousPosition
• sgmOptimization: apply sgm alghorithm using 8 different scanline

stereo::confidence

namespace with some confidence measure for stereo matching, given a DSI the produce a grey scale image with area with low confidence in black

• matchingScoreMeasure
• curvature
• peakRatio
• winnerMargin
• leftRightCheck

[1] Hirschmuller, H. (2005). Accurate and Efficient Stereo Processing by Semi Global Matching and Mutual Information. CVPR .