Friday, February 25, 2011

Stereo vision -- source code testing

C. Zitnick and T. Kanade proposed an algorithm [1] to compute the depth (or disparity) maps for stereo version. The source code was released for non-commercial usage, and there is a modified version by K. Sokolova and B. Shilo. I suggest you go for the modified version which gives some practical and straightforward descriptions and examples. Also, the modified version offers a complete set to be compiled and executed. However, the source code needs some more minor modifications to be compiled using g++ in Ubuntu 10.04.

In run-zks.cpp:
< #include 
> #include 
> #include 
> #include 

In EasyBMO.cpp
> #include 

I combined the output images into the following gif animation (in loop).

[1] Charles Zitnick and Takeo Kanade, "A Cooperative Algorithm for Stereo Matching and Occlusion Detection," tech. report CMU-RI-TR-99-35, Robotics Institute, Carnegie Mellon University, October, 1999

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