stereo_image_proc disparity image crop

asked 2014-03-05 19:59:53 -0600

aswin gravatar image

updated 2014-03-06 02:05:30 -0600

Hi, I am using stereo_image_proc to generate a disparity image. However, I always see a fixed number of columns cropped of on the left side. Since this is fixed, the cropped region is almost half the disparity image in a 160x120 image i.e. almost 80 columns are blank. I dint notice this problem till I went below 640x480 resolution.

For a 80x60 image, this becomes even worse. Only a few column pixels are visible. Has anyone experienced the same problem? Is there anyway to rectify this? I tried the same with elas and there is no cropping.

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Comments

Did you try playing with disparity_range parameter?

Artem gravatar imageArtem ( 2014-03-06 03:48:06 -0600 )edit

Hi, the smallest disparity_range is 32. So there is still some cropping. I guess this is a limitation of the BM algorithm. The best I can so is center the disparity image by changing min_dispariuty so that the cropping is same on left and right.

aswin gravatar imageaswin ( 2014-03-06 14:10:07 -0600 )edit