SimpleStereo 1.0.6.0

Stereo vision made simple

SimpleStereo

Stereo vision made Simple.

SimpleStereo is a high level framework for stereo vision applications. It is written in Python 3, with C++ extensions. Documentation is available at https://decadenza.github.io/SimpleStereo/

Dependencies

• Python 3 (tested with 3.9.2)
• NumPy
• SciPy
• OpenCV
• matplotlib (for data visualisation)

Installation

Before starting, be sure to have the latest setuptools package by running pip install --upgrade setuptools. Then proceed with one of the two options below.

Option 1

Install package from PyPI with:

pip3 install simplestereo

Option 2

Clone or download the latest version and unzip. Then, from the folder containing setup.py, run:

pip3 install .

Windows users troubleshooting

If during installation you get, together with other messages, the following error:

error: Microsoft Visual C++ 14.0 or greater is required. Get it with "Microsoft C++ Build Tools": https://visualstudio.microsoft.com/visual-cpp-build-tools/

Please install the Microsoft C++ Build Tools as indicated. These are required to build C++ extensions that are part of SimpleStereo. More information about compiling on Windows is available at https://wiki.python.org/moin/WindowsCompilers.

Basic example

SimpleStereo helps you with common tasks. You can calibrate two cameras and initialise a stereoRig with:

import simplestereo as ss

# Path to your images
images = [
    ("0_left.png", "0_right"),
    ("1_left.png", "1_right"),
    ("2_left.png", "2_right"),
    ...
    ]

# Calibrate and build StereoRig object
rig = ss.calibration.chessboardStereo( images, chessboardSize=(7,6), squareSize=60.5 )

# Save rig object to file
rig.save("myRig.json")

# Optionally print some info
print("Reprojection error:", rig.reprojectionError)
print("Centers:", rig.getCenters())
print("Baseline:", rig.getBaseline())

More examples available in the examples folder.

Features and Future Work

General

• StereoRig, RectifiedStereoRig and StructuredLightRig classes to easily manage your stereo rigs and their calibration
• Basic stereo capture using OpenCV cv2.videoCapture
• Export and import point cloud to PLY file

Calibration algorithms

• Chessboard calibration (one and two cameras)
• Camera-projector calibration adapted (Moreno D. et al.), adapted from procam (ss.calibration.chessboardProCam)
• Camera-projector calibration alternative version (ss.calibration.chessboardProCamWhite)
• ArUco camera calibration algorithm

Stereo rectification algorithms

• Fusiello et al., A compact algorithm for rectification of stereo pairs, 2000 (ss.rectification.fusielloRectify)
• Wrapper of OpenCV algorithm (ss.rectification.stereoRectify)
• Loop and Zhang, Computing rectifying homographies for stereo vision, 1999 (ss.rectification.loopRectify)
• Lafiosca and Ceccaroni, Rectifying homographies for stereo vision: analytical solution for minimal distortion, 2022, https://doi.org/10.1007/978-3-031-10464-0_33 (ss.rectification.directRectify, see also DirectStereoRectification)

Passive stereo matching algorithms

• Adaptive Support Weight algorithm (K. Yoon et al., Adaptive support-weight approach for correspondence search, 2006)
• Geodesic Support Weight algorithm (simplified implementation, credits Asmaa Hosni et al.)

Active and Structured light algorithms

• Gray code
• De Brujin
• Adapt structured light algorithms to work with two cameras
• StereoFTP (Lafiosca P. et al., Automated Aircraft Dent Inspection via a Modified Fourier Transform Profilometry Algorithm, Sensors, 2022)

Unwrapping algorithms

• Infinite impulse response (Estrada et al., Noise robust linear dynamic system for phase unwrapping and smoothing, Optics Express, 2011)

Documentation

Documentation follows numpydoc style guide.

Install documentation prerequisites with:

pip install Sphinx numpydoc

Build documentation with:

cd sphinx-documentation-generator
sh BUILD_SCRIPT.sh
cd ..

Contributions

Reporting issues and proposing integrations of other stereo vision algorithms is highly encouraged and it will be acknowledged. Please share your issues!