3-dense-stereo-processing.md

Step 4: Dense stereo processing

6. Dense stereo processing

Go to DenseStereoMatcher in lab_stereo.py. Your task is again to compute the correct depths in meters:

1. In the constructor, compute the minimum and maximum depths the matcher can compute from the given minimum and maximum disparities.
2. In DenseStereoMatcher.match(), compute the correct depth given the disparity results.

Further experiments

• Play around with the parameters for the dense stereo matcher. See the cv::StereoSGBM Class Reference.
• Activate the projector. How does it influence the stereo processing?
• Compute 3D points for the dense result and show them instead of the sparse point cloud!