Hi,
I am trying to get something like 3D model ( Point Cloud) from two stereo photos. I have two cameras and I am trying to construct something like stereo camera.
But first, I used photos from openCV. I mean https://github.com/Itseez/opencv/tree/master/samples/data left* and right* photos.
Then, I used them to compute a depth map. First, I had to compute fundametnal matrix and so on. So my results are:
Fundamental Matrix:
[ -3.0705036824081975e-08, -5.5010692613284437e-06, -4.1537003996251830e-07,
1.6027916082131190e-06, 3.0918646836239451e-06, -9.0983417770729963e-02,
4.8923826219224341e-04 , 9.0751934311724153e-02, 1. ]
And rms error returned by cv::stereoCalibrate is 0.276421
I chose two photos (left04.jpg and right04.jpg) and I created a depth map for it. Obviously, I rectified images.
So I present here rectified photos and results and my questions:
Left rectified:
Right rectified:
And depth maps using:
cv::StereoSGBM::create(0, 256, 31):
cv::StereoSGBM::create(0, 256, 17):
cv::StereoSGBM::create(0, 128, 31):
cv::StereoSGBM::create(0, 128, 17):
cv::StereoSGBM::create(0, 128, 11):
Questions:
Which are the best for reconstruction 3D? Why? On my eye the best is the last one but I have no experience.
Is it the best possible depth map or can I get better results ( I think so). But why and how to?
The second question is the most important for me because I have no experience and it is too hard to decide for me.
I have doubts because I got very good results for photos from here:
http://vision.middlebury.edu/stereo/data/scenes2014/datasets/Motorcycle-imperfect/
(im0.png, im1.png)
And depth map for that:
And I know that it was "excellent stereo pair".
Please make clear my doubts.