3D reconstruction from stereo images in Python

reconstruct.py

# -*- coding: utf-8 -*-

import argparse

import cv2
import numpy as np


def calc_disparity(left_image, right_image):
    window_size = 3
    min_disp = 1
    num_disp = 16*2
    stereo = cv2.StereoSGBM(
        minDisparity=min_disp,
        numDisparities=num_disp,
        SADWindowSize=window_size,
        uniquenessRatio=10,
        speckleWindowSize=100,
        speckleRange=32,
        disp12MaxDiff=1,
        P1=8*3*window_size**2,
        P2=32*3*window_size**2,
        fullDP=False
    )
    return stereo.compute(left_image, right_image).astype(np.float32) / 16.0


def remove_invalid(disp_arr, points, colors):
    mask = (
        (disp_arr > disp_arr.min()) &
        np.all(~np.isnan(points), axis=1) &
        np.all(~np.isinf(points), axis=1)
    )
    return points[mask], colors[mask]


def calc_point_cloud(image, disp, q):
    points = cv2.reprojectImageTo3D(disp, q).reshape(-1, 3)
    colors = image.reshape(-1, 3)
    return remove_invalid(disp.reshape(-1), points, colors)


def project_points(points, colors, r, t, k, dist_coeff, width, height):
    projected, _ = cv2.projectPoints(points, r, t, k, dist_coeff)
    xy = projected.reshape(-1, 2).astype(np.int)
    mask = (
        (0 <= xy[:, 0]) & (xy[:, 0] < width) &
        (0 <= xy[:, 1]) & (xy[:, 1] < height)
    )
    return xy[mask], colors[mask]


def calc_projected_image(points, colors, r, t, k, dist_coeff, width, height):
    xy, cm = project_points(points, colors, r, t, k, dist_coeff, width, height)
    image = np.zeros((height, width, 3), dtype=colors.dtype)
    image[xy[:, 1], xy[:, 0]] = cm
    return image


def rotate(arr, anglex, anglez):
    return np.array([  # rx
        [1, 0, 0],
        [0, np.cos(anglex), -np.sin(anglex)],
        [0, np.sin(anglex), np.cos(anglex)]
    ]).dot(np.array([  # rz
        [np.cos(anglez), 0, np.sin(anglez)],
        [0, 1, 0],
        [-np.sin(anglez), 0, np.cos(anglez)]
    ])).dot(arr)


def run(left_image, right_image, focal_length, tx):
    image = right_image
    height, width, _ = image.shape

    disp = calc_disparity(left_image, right_image)

    q = np.array([
        [1, 0, 0, -width/2],
        [0, 1, 0, -height/2],
        [0, 0, 0, focal_length],
        [0, 0, -1/tx, 0]
    ])
    points, colors = calc_point_cloud(image, disp, q)

    r = np.eye(3)
    t = np.array([0, 0, -100.0])
    k = np.array([
        [focal_length, 0, width/2],
        [0, focal_length, height/2],
        [0, 0, 1]
    ])
    dist_coeff = np.zeros((4, 1))

    def view(r, t):
        cv2.imshow('projected', calc_projected_image(
            points, colors, r, t, k, dist_coeff, width, height
        ))

    view(r, t)

    angles = {  # x, z
        'w': (-np.pi/6, 0),
        's': (np.pi/6, 0),
        'a': (0, np.pi/6),
        'd': (0, -np.pi/6)
    }

    while 1:
        key = cv2.waitKey(0)

        if key not in range(256):
            continue

        ch = chr(key)
        if ch in angles:
            ax, az = angles[ch]
            r = rotate(r, -ax, -az)
            t = rotate(t, ax, az)
            view(r, t)

        elif ch == '\x1b':  # esc
            cv2.destroyAllWindows()
            break


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('left_image')
    parser.add_argument('right_image')
    parser.add_argument('focal_length', type=float)
    parser.add_argument('distance_between_cameras', type=float)
    args = parser.parse_args()

    left_image = cv2.imread(args.left_image)
    right_image = cv2.imread(args.right_image)
    f = args.focal_length
    tx = args.distance_between_cameras

    run(left_image, right_image, f, tx)


if __name__ == '__main__':
    main()

Hello,I want to run your code on my computer,but some problems happened unfortunately, the error is "reconstruct.py: error: the following arguments are required: left_image, right_image, focal_length, distance_between_cameras". I have the left and right images in the folder,but I lack these file:"focal_length, distance_between_cameras",can you share these file to me,Thank you a lot! This is my mail:wujie_wust@foxmai.com

Do you know how to do with an amount of images greater than two? Like use 3 or 4 images?

@WJ75090983 "focal_length, distance_between_cameras" are not files, they are floating point values. focal_length of ur camera and distance_between_cameras is dist between the two stereo cams.

When I run the script with what I think is the correct parameters, I get:

File "no_errors.py", line 25, in calc_disparity
return stereo.compute(left_image, right_image).astype(np.float32) / 16.0
TypeError: Incorrect type of self (must be 'StereoMatcher' or its derivative)

If anyone can help, please let me know.

Hello, @JoeFurfaro I solved this problem by changing the following parameters:

window_size = 5
min_disp = 32
num_disp = 112 - min_disp
stereoTeste = cv2.StereoSGBM_create(minDisparity = min_disp,
numDisparities = num_disp,
blockSize = 16,
P1 = 83window_size2,
P2 = 323window_size2,
disp12MaxDiff = 1,
uniquenessRatio = 10,
speckleWindowSize = 100,
speckleRange = 32
)

@lanius can you post example image of the final result of the reconstruction? I'm not getting great results, and I do not know if it's due to my calibration, or incorrect setup of the StereoSGBM for my particular case. If possable Thx :)

Ps: the focal length and distance between cameras are in mm, cm or m ?

I tried running this code but then I keep getting error 'Nonetype' object has no attribute 'shape', I even double check the path that I'm using for image right and left and still getting this error. Can anyone help?

I finally got this to run an like Lindul, getting a lot of noise on the resultant image, other than calibration is there anyway to improve the 3D image appearance. I already modified Block size and numdisparities to improve the results marginally.

Hello, @JoeFurfaro I solved this problem by changing the following parameters:

window_size = 5
min_disp = 32
num_disp = 112 - min_disp
stereoTeste = cv2.StereoSGBM_create(minDisparity = min_disp,
numDisparities = num_disp,
blockSize = 16,
P1 = 8 * 3 * window_size**2, P2 = 32 * 3 * window_size ** 2, <= for preventing confusing
disp12MaxDiff = 1,
uniquenessRatio = 10,
speckleWindowSize = 100,
speckleRange = 32
)

@lanius can you post example image of the final result of the reconstruction? I'm not getting great results, and I do not know if it's due to my calibration, or incorrect setup of the StereoSGBM for my particular case. If possable Thx :)

Ps: the focal length and distance between cameras are in mm, cm or m ?

hi can someone can help me with this
3D test.py: error: the following arguments are required: img1, img2, focal_length, distance_between_cameras
thanks

Can anybody post some sample results