7. The KITTI Benchmark Suite
Color stereo image citation
Since I have used only TSUKUBA stereo images as benchmark images, I would like to use newer benchmark images. The KITTI Vision Benchmark Suite Provides benchmark images for automated driving technology. The license is "The Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License". Here we quote two images on the left and right from a huge amount of data. Please follow this license for the reuse of these two images. Stereo Evaluation 2012 You can get it by pressing the Download stereo / optical flow data set (2 GB) button on the page.
- quote training/colored_0/000000_10.png as L000000_10.png
- quote training/colored_1/000000_10.png as R000000_10.png
Application result of gaze_line-depth model
The disparity file resulting from applying depth_stereo.cpp from article 3 is . The execution was
. The last 3 is the scale factor value. A maximum parallax of 68 can be found visually using 3d_stereo.cpp. The minimum parallax is 0 because a very distant view is shown. Next, the result of applying 3d_stereo.cpp is . 3d_stereo.cpp used the article 1 with the following one character key command added.
./depth_gpu R000000_10.png L000000_10.png 68 0 14 1023 1 3
|H||eye move left|
|J||eye move down|
|K||eye move up|
|L||eye move right|
|F||eye move forward|
|N||eye move back|
|C||clear angle and position|
|h||eye move left angle|
|j||eye move down angle|
|k||eye move up angle|
|l||eye move right angle|
, compile and start. As you can see from the makefile, the program starts with
. To make a movie, first cut the graph with the ", key". Next, instruct the movie creation with "6 keys". In "6 keys", you can move forward, watch a little while looking forward, move forward a little, and then return to the original video. It ends with "q key". This video file result.avi is a bit large, so encode it to an m4v file using the Mac or Window function. Since it takes time to cut the graph, it is not possible with CPU.
./3d_gpu R000000_10.png L000000_10.png 68 0 14 1023 1