Libraries to get depth map from stereo images?

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+3 Q:

Libraries to get depth map from stereo images?

I'm going to set up some devices to perform real-time 3D motion tracking. My first idea to do so is to use a pair of cameras to take stereo image and calculate the depth map to get the 3D data I needed.

Are there any good open source libraries (C/C++) available and is fast enough for real-time(~12-24fps)? I've found 3D Reconstruction using Stereo Vision and EStereo in SourceForge, have anyone tried them?

Or any algorithm suggestion that I can implement?

+4 A:

Before you start, consider the fact that stereo vision is not just a software problem. The calibration of your pair of camera's is critically important to the accuracy of your depth map. For best results you want two identical camera's pointed exactly parallel, with exactly the same lenses on both cameras, with the CCD's of the camera's lying on one plane in 3D space. This is very difficult to achieve with just any random pair of camera's. Especially if they come from the cheaper segment.

If all you're interested in is using the 3D depth map for 3D motion tracking then there are precalibrated stereo camera's you can buy that typically come with software that allows you to extract the 3D map directly. I've had good experience with the Bumblebee camera from Point Grey Research but probably there are other good systems as well. This will allow you to concentrate on the 3D tracking. Otherwise just getting a usable depth map from a camera pair will eat up a lot of your time.

jilles de wit 2009-09-11 08:47:09

I was originally planning to use a pair of PS3 eye as they should be less expensive. But the Bumblebee camera you recommenced certainly fits my needs. I'm requesting price quote, hope it is ok for me.

Andy Li 2009-09-11 16:19:29

I've been contacting Point Grey Research but I still can't reach the local representative (Hong Kong)...Can you suggest me a few more hardware choices?

Andy Li 2009-09-23 06:59:52

jilles de wit 2009-09-23 07:47:04

They contacted me and I think the Bumblebee is too expensive for me... I have looked into many others but all are too expensive relative to the PS3 Eye :(

Andy Li 2010-01-02 11:20:10

Microsoft research vision group in Cambridge sell a dual camera for 300GBP - don't know if this is available in other ocuntries

Martin Beckett 2010-01-02 20:21:14

@Martin Beckett Can you post more info on that? I can't find it in the group's homepage...

Andy Li 2010-01-02 20:49:54

you could also try http://www.sitpl.com/#/Products/Oculi

linda 2010-01-02 02:41:48

+1 A:

Opencv has a whole section on this, see chapter 12 of Learning Opencv

Martin Beckett 2010-01-02 02:45:38

Thanks! I discover that too and have been working with it in the past few weeks! Here are the related functions' doc: http://opencv.willowgarage.com/documentation/camera_calibration_and_3d_reconstruction.html

Andy Li 2010-01-02 11:16:42

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Libraries to get depth map from stereo images?

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