StereoVision Calculator
align center
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Table of contents

• Introduction
• Getting started
• Usage
  1. Inputs
  2. Results
  3. Functions

Introduction

This program is used to calculate different parameters for a stereovision setup. The main purpose of this program is to calculate the baseline based on a maximum depth error at a certain distance. This however means that your software needs to have a set (estimated) disparity error. A fluctuation in its disparity error will result in a different depth error. The reason of calculating the baseline this way is to be able to achieve an exact accuracy without the need of optimizing current algorithms.

Getting started
Clone the repository with:
$ git clone https://github.com/ar13pit/stereovision_calculator.git
install the required python packages with:
$ pip install -r requirements.txt
Run the bot with:
$ python stereo_caluclator.py
That's it!
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Usage

Inputs

Sensor size
The diagonal size of the sensor in mm or inch. (Keep in mind that sensor formats are not equal to the diagonal size, see here)

Resolution width
The amount of horizontal pixels of the image

Resolution height
The amount of vertical pixels of the image

Focal FoV
The Field of View of the lens

Performance depth
The distance where you want to define a desired error

Performance depth error
The desired error that you want at the distance you previously set

Performance disparity
Select the disparity in pixels for the selected range

Max disparity
Select the maximum disparity that your software calculates (standard 128)

Calibration disparity error
Select the (expected) disparity error generated by the stereovision algorithm

Results

Focal length
Calculated focal length

Baseline
The distance between the two imaging sensors counted from the center of each sensor

Max depth
The maximum measurable depth (this is equal to the performance depth if the performance disparity is set to 1 pixel)

Depth resolution
The resolution of the depth image

Depth FoV
The Field of View of the depth image

Functions

Capture
Capture a screenshot of the program

Auto calculate
Let the program calculate the results immediately when it detects a change in the input fields

Calculate
Calculate the results

Plot
Plot the depth error chart