THE NEW TSUKUBA STEREO DATASET IS OUT!

Finally! After so much work we released the "New Tsukuba Stereo Dataset" at ICPR2012

This dataset contains 1800 stereo pairs with ground truth disparity maps, occlusion maps and discontinuity maps that will help to further develop the state of the art of stereo matching algorithms and evaluate its performance. It has been generated using photo-realistic computer graphics techniques and modeled after the original "head and lamp" stereo scene released by University of Tsukuba in 1997. 

The dataset is a 1 minute video sequence and also contains the 3D position and orientation of the camera on each frame, so it also can be used to develop and evaluate camera tracking methods.

It can be downloaded freely from the CVLAB website

Enjoy it!

3D RECONSTRUCTION WITH OPENCV AND POINT CLOUD LIBRARY

Hi everybody!

I bring you a sample of how to reconstruct a scene in 3D using OpenCV and Point Cloud Library (PCL) with a simple program and an example scene.

All we need is the left image of our stereo camera:

(You can implement your own cheap stereo webcam following this post: OpenCV Stereo Webcam)

The disparity map generated with your preferred Stereo Matching algorithm:

(For example you can use OpenCV's stereoBM algorithm: OpenCV StereoBM)

And the reprojection matrix (Q) obtained at calibration time:

<?xml version="1.0"?>
<opencv_storage>
<Q type_id="opencv-matrix">
  <rows>4</rows>
  <cols>4</cols>
  <dt>d</dt>
  <data>
    1. 0. 0. -2.9615028381347656e+02
    0. 1. 0. -2.3373317337036133e+02
    0. 0. 0. 5.6446880931501073e+02
    0. 0. -1.1340974198400260e-01 4.1658568844268817e+00
  </data></Q>
</opencv_storage>

(You can get the matrix Q for your own stereo camera following the instructions in this post: OpenCV Camera Calibration)

Now download the source code (I highly recommend to read the source code to understand what is going on, don't worry there is comments :P):

[NOTE]: You will need to have installed OpenCV Library (you can get it here) and Point Cloud Library (you can get it here). Also you will need CMake to generate the Makefiles.

Once you have downloaded the source code and installed the dependencies, just run:

tar xzvf OpenCVReprojectImageToPointCloud-1.0.tgz
cd OpenCVReprojectImageToPointCloud
cmake .
make
./OpenCVReprojectImageToPointCloud rgb-image.ppm disparity-image.pgm Q.xml

You should see something similar to the following video:

I hope you enjoy it!
[UPDATE: 04/02/2012] I have released a bug-fix. Thanks to Chris for pointing it out.