How to create a depth map

Python
,
1

I’m trying to build depth map using StereoBM. Code:

import cv2
import numpy as np

left_image = cv2.imread('im10.jpg', 0)
right_image = cv2.imread('im11.jpg', 0)
left_image2 = cv2.imread('im0.jpg', 0)
right_image2 = cv2.imread('im1.jpg', 0)

left_image = cv2.resize(left_image, (800, 600))
right_image = cv2.resize(right_image, (800, 600))
left_image2 = cv2.resize(left_image2, (800, 600))
right_image2 = cv2.resize(right_image2, (800, 600))

stereoBM = cv2.StereoBM_create(0, 7)
disparity_map = stereoBM.compute(left_image, right_image).astype(np.float32)
disparity_map2 = stereoBM.compute(left_image2, right_image2).astype(np.float32)
disparity_map = cv2.normalize(disparity_map, 0, 255, cv2.NORM_MINMAX)
disparity_map2 = cv2.normalize(disparity_map2, 0, 255, cv2.NORM_MINMAX)

cv2.imshow('disparity', disparity_map)
cv2.imshow('disparity2', disparity_map2)
cv2.waitKey()

disparity_map - depth map for images from internet
disparity_map2 - depth map for my images

img
img1920×262 66.5 KB

(downloaded image at left side, my images at right side)

I use 2 wide angle IR cameras. For calibration i using this guide -https://stereopi.com/blog/opencv-and-depth-map-stereopi-tutorial

Why my map is so bad? What resolution should the image have?

Sry for my bad english :smiley:

2

that is evidence of bad parameters to the block matching algorithm, or the pictures are flipped/shifted to cause no real correspondences to exist in the range of disparity it’s testing.

with those thumbnails, it’s hard to help.

3

but why, if you flip both images horizontally, then the depth map is not built correctly?
how do i make 2 perfect images for the correct build?

i made two new photos with large resolution, but effect is same. Horizontal flip dont affect too

4

I didn’t mean flip individual images, but switch their sides, so pardon for the choice of word. I’m not saying that’ll always do anything. it may do something in some cases.