Peter at 20:15, 12 July 2021

2021-07-12T20:15:14Z

← Older revision		Revision as of 20:15, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparitySmoothing.java ExampleStereoDisparitySmoothing.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparitySmoothing.java ExampleStereoDisparitySmoothing.java]

	Concepts:		Concepts:
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	gui.addImage("Before", VisualizeImageData.disparity(disparity, null, disparityRange, 0));		gui.addImage("Before", VisualizeImageData.disparity(disparity, null, disparityRange, 0));
	gui.addItem("Before 3D",		gui.addItem("Before 3D",
	ExampleStereoDisparity3D.computeAndShowCloud(param, rectLeft, rectifier, disparity ));		ExampleStereoDisparity3D.computeAndShowCloud(param, rectLeft, rectifier, disparity));

	// Here's what we came here for. Time to remove the speckle		// Here's what we came here for. Time to remove the speckle
Line 72:		Line 72:
	gui.addImage("After", VisualizeImageData.disparity(disparity, null, disparityRange, 0));		gui.addImage("After", VisualizeImageData.disparity(disparity, null, disparityRange, 0));
	gui.addItem("After 3D",		gui.addItem("After 3D",
	ExampleStereoDisparity3D.computeAndShowCloud(param, rectLeft, rectifier, disparity ));		ExampleStereoDisparity3D.computeAndShowCloud(param, rectLeft, rectifier, disparity));

	// Notice how in the "After 3D" view the number of randomly floating points is much less?		// Notice how in the "After 3D" view the number of randomly floating points is much less?
	ShowImages.showWindow(gui,"Disparity Smoothing", true);		ShowImages.showWindow(gui, "Disparity Smoothing", true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter: Created page with " File:example_disparity_smoothing_raw.jpg|Before any post processing. Notice all the noise? File:example_disparity_smoothing..."

2020-12-22T21:06:33Z

Created page with "<center> <gallery heights=250 widths=320 perrow=4 > File:example_disparity_smoothing_raw.jpg|Before any post processing. Notice all the noise? File:example_disparity_smoothing..."

New page

<center>
<gallery heights=250 widths=320 perrow=4 >
File:example_disparity_smoothing_raw.jpg|Before any post processing. Notice all the noise?
File:example_disparity_smoothing_speckle.jpg|After speckle has been removed.
</gallery>
</center>

Stereo disparity is notoriously noisy after often post processing steps need to be applied before it can be used. One of the more common steps is to remove small regions which are disconnected from their neighbors. This is also called speckle removal. Future post processing filters for stereo disparity are planned which "should" be even better.

Example Code:
* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparitySmoothing.java ExampleStereoDisparitySmoothing.java]

Concepts:
* Stereo Disparity
* Filtering

Related Examples:
* [[Example_Stereo_Disparity| Stereo Disparity]]

= Example Code =

<syntaxhighlight lang="java">
/**
* Stereo disparity images can be very noisy and often times post processing to reduce the
* noise is desired/required. This example demonstrates ones of the most basic ways to remove
* noise by removing speckle. In this case, speckle are small regions with incorrect disparities.
* The filter works by removing all small regions which have a significantly different
* disparity from their neighbors.
*
* @author Peter Abeles
*/
public class ExampleStereoDisparitySmoothing {
static int disparityRange = 60;

public static void main( String[] args ) {
String calibDir = UtilIO.pathExample("calibration/stereo/Bumblebee2_Chess/");
String imageDir = UtilIO.pathExample("stereo/");

StereoParameters param = CalibrationIO.load(new File(calibDir, "stereo.yaml"));

// load and convert images into a BoofCV format
BufferedImage origLeft = UtilImageIO.loadImage(imageDir, "chair01_left.jpg");
BufferedImage origRight = UtilImageIO.loadImage(imageDir, "chair01_right.jpg");

GrayU8 distLeft = ConvertBufferedImage.convertFrom(origLeft, (GrayU8)null);
GrayU8 distRight = ConvertBufferedImage.convertFrom(origRight, (GrayU8)null);

// rectify images
GrayU8 rectLeft = distLeft.createSameShape();
GrayU8 rectRight = distRight.createSameShape();

// Using a previous example, rectify then compute the disparity image
RectifyCalibrated rectifier = ExampleStereoDisparity.rectify(distLeft, distRight, param, rectLeft, rectRight);
GrayF32 disparity = ExampleStereoDisparity.denseDisparitySubpixel(
rectLeft, rectRight, 5, 10, disparityRange);

// Let's show the results in a single window before speckle is "removed"
var gui = new ListDisplayPanel();
gui.addImage("Before", VisualizeImageData.disparity(disparity, null, disparityRange, 0));
gui.addItem("Before 3D",
ExampleStereoDisparity3D.computeAndShowCloud(param, rectLeft, rectifier, disparity ));

// Here's what we came here for. Time to remove the speckle
var configSpeckle = new ConfigSpeckleFilter();
configSpeckle.similarTol = 1.0f; // Two pixels are connected if their disparity is this similar
configSpeckle.maximumArea.setFixed(200); // probably the most important parameter, speckle size
DisparitySmoother<GrayU8, GrayF32> smoother =
FactoryStereoDisparity.removeSpeckle(configSpeckle, GrayF32.class);

smoother.process(rectLeft, disparity, disparityRange);
gui.addImage("After", VisualizeImageData.disparity(disparity, null, disparityRange, 0));
gui.addItem("After 3D",
ExampleStereoDisparity3D.computeAndShowCloud(param, rectLeft, rectifier, disparity ));

// Notice how in the "After 3D" view the number of randomly floating points is much less?
ShowImages.showWindow(gui,"Disparity Smoothing", true);
}
}
</syntaxhighlight>

Example Disparity Smoothing - Revision history

Peter at 20:15, 12 July 2021

Peter: Created page with " File:example_disparity_smoothing_raw.jpg|Before any post processing. Notice all the noise? File:example_disparity_smoothing..."