Stereo Vision Disparity Adjustment Tool

This tool provides a graphical interface for adjusting the disparity map parameters of a stereo vision system. It includes visualizations for depth maps and point clouds and allows for real-time tuning of stereo vision parameters.

Features

• Disparity Map Adjustment: Adjust parameters like numDisparities, blockSize, preFilterCap, uniquenessRatio, etc.
• Depth Map Visualization: View the depth map in grayscale or color.
• Point Cloud Visualization: Visualize the 3D point cloud generated from the disparity map.
• Image Display Modes: Switch between RGB, BGR, and Greyscale display modes for rectified images.
• Algorithm Toggle: Switch between SGBM and BM stereo matching algorithms.
• WLS Filter: Option to apply WLS (Weighted Least Squares) filter to the disparity map.
• Video Playback: Play, pause, and seek within stereo video files.
• Live Feed Support: Use live stereo camera feeds.

Configuration

Before running the tool, create a config/config.yml file with the following structure:

left_folder: path/to/left/images
right_folder: path/to/right/images
left_camera_config: path/to/left/camera/config.yml
right_camera_config: path/to/right/camera/config.yml
baseline: 120 # mm
BGR: False # Leave False for RGB or Greyscale.
Live: False # Set to True for live stereo feed.

Note: The camera configurations should be in OpenCV format.

Setting Up the Environment

To set up the virtual environment and install the required dependencies, follow these steps:

1. Create a Virtual Environment:

   python -m venv venv
   

2. Activate the Virtual Environment:

   • On Windows:

     venv\Scripts\activate
     

   • On macOS and Linux:

     source venv/bin/activate
     

3. Install the Required Dependencies:

   pip install -r requirements.txt
   

Usage

1. Initialize and Run:

   python stereo_vision_app.py
   

2. Adjust Parameters: Use the sliders on the left panel to adjust the disparity map parameters.

3. Switch Modes: Use the buttons on the top panel to switch display modes, toggle depth map color, change algorithms, and apply the WLS filter.

4. Video Controls: Use the play/pause button and slider to control video playback.

5. Live Feed: If using live stereo feed, ensure cameras are properly connected and configured.

Running the Application

To run the application, execute the script:

python stereo_matching.py

The application window will open, allowing you to adjust stereo vision parameters and visualize the results in real-time.

Save Settings

You can save the current settings to a file for later use. Use the 'Save Settings' button and provide a filename.