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POmissing region in disparity map
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CreationDate
2012-09-17T10:54:52.827
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2014-03-17T22:05:41.470
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i am currently working on stereo processing using opencv2.3 and a Pointgrey Bumblebee2 stereocamera as an input device. Acquiring images is done via the libdc1394. My code for rectification and stereo processing is the following: <pre class="lang-cpp prettyprint-override"><code>void StereoProcessing::calculateDisparityMap(const Mat &left, const Mat &right, Mat &disparity_map) Mat map11, map12, map21, map22, left_rectified, right_rectified, disp16; // Computes the undistortion and rectification transformation maps initUndistortRectifyMap(this->camera_matrix1, this->distance_coefficients1, this->R1, this->P1, this->output_image_size, CV_16SC2, map11, map12); initUndistortRectifyMap(this->camera_matrix2, this->distance_coefficients2, this->R2, this->P2, this->output_image_size, CV_16SC2, map21, map22); // creates rectified images remap(left, left_rectified, map11, map12, INTER_LINEAR); remap(right, right_rectified, map21, map22, INTER_LINEAR); // calculates 16-bit disparitymap this->stereo_bm(left_temp, right_temp, disp16); disp16.convertTo(disparity_map, CV_8U, 255 / (this->stereo_bm.state->numberOfDisparities * 16.0)); } </code></pre> This works fine except for a black left border in the disparity map, which is the following: <img src="https://i.stack.imgur.com/JV0Zg.png" alt="Disparity map with black border on the left side"> The input images are these two - unrectified as you can see ;) : <img src="https://i.stack.imgur.com/lSG9Q.png" alt="left unrectified image"> <img src="https://i.stack.imgur.com/FT0GW.png" alt="right unrectified image"> So my question is now: Is this normal behaviour? Or do you see any mistake i have done so far? As another information, the rectification works fine
Tags
<c++><opencv><disparity-mapping>
Title
missing region in disparity map
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1. PO
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