Binocular Stereo Vision
=======================

`Stereo Vision <https://en.wikipedia.org/wiki/Computer_stereo_vision>`_ 

`Binocular Vision <https://en.wikipedia.org/wiki/Binocular_vision>`_


"`Epipolar geometry <https://en.wikipedia.org/wiki/Epipolar_geometry>`_ is the geometry of `stereo vision <https://en.wikipedia.org/wiki/Stereopsis#Computer_stereo_vision>`_" (cited from Wikipedia), which can be briefly illustrated as the following picture (cited from Wikipedia):

.. image:: ../resource/chapter3/images/Epipolar_geometry.jpg
    :align: center
    :target: https://upload.wikimedia.org/wikipedia/commons/1/14/Epipolar_geometry.svg
    :alt: Epipolar Geometry

How to calculate depth map from binocular cameras has been widely and thoroughly discussed in various materials. For instance:

- `Intel's The basics of stereo depth vision <https://www.intelrealsense.com/stereo-depth-vision-basics/>`_
- `OpenCV's Official documentation Depth Map from Stereo Images <https://docs.opencv.org/master/dd/d53/tutorial_py_depthmap.html>`_
- etc.

Here, we only provides the following two example code to calculate the disparity image from a single pair of left and right images.

`Activity10.01.py <../Activity10.01/Activity10.01.py>`_ shows the classical stereo vision **block matching** algorithm, which is heavily cited from `https://github.com/opencv/opencv/issues/9783 <https://github.com/opencv/opencv/issues/9783>`_.

**XXXXXXXXXX** shows the classical stereo vision **semi-global block matching** algorithm, which is heavily cited from `http://timosam.com/python_opencv_depthimage <http://timosam.com/python_opencv_depthimage>`_.


Our experiments are carried out on a single image pair as follows:


.. list-table::
    :align: center

    * - .. image:: ../resource/chapter3/images/stereo/aloeL.jpg
            :align: center
            :target: ../resource/chapter3/images/stereo/aloeL.jpg
            :alt: Left Image

      - .. image:: ../resource/chapter3/images/stereo/aloeR.jpg
            :align: center
            :target: ../resource/chapter3/images/stereo/aloeR.jpg
            :alt: Right Image

    * - .. image:: ../resource/chapter3/images/stereo/disparity_BM.png
            :align: center
            :target: ../resource/chapter3/images/stereo/disparity_BM.png
            :alt: Disparity of Stereo_BM

      - .. image:: ../resource/chapter3/images/stereo/disparity_SGBM.png
            :align: center
            :target: ../resource/chapter3/images/stereo/disparity_SGBM.png
            :alt: Disparity of Stereo_SGBM


I'm still waiting for my econ-system binocular camera `STEEReoCAM <https://www.e-consystems.com/nvidia-cameras/jetson-agx-xavier-cameras/stereo-camera.asp>`_ for the live stereo vision test.