PlantStereo

This is the official implementation code for the paper "PlantStereo: A Stereo Matching Benchmark for Plant Surface Dense Reconstruction".

Paper

PlantStereo: A Stereo Matching Benchmark for Plant Surface Dense Reconstruction[preprint]

Qingyu Wang, Baojian Ma, Wei Liu, Mingzhao Lou, Mingchuan Zhou*, Huanyu Jiang and Yibin Ying

College of Biosystems Engineering and Food Science, Zhejiang University.

Example and Overview

We give an example of our dataset, including spinach, tomato, pepper and pumpkin.

The data size and the resolution of the images are listed as follows:

Analysis

We evaluated the disparity distribution of different stereo matching datasets.

Format

The data was organized as the following format, where the sub-pixel level disparity images are saved as .tiff format, and the pixel level disparity images are saved as .png format.

PlantStereo

├── PlantStereo2021

│          ├── tomato

│          │          ├── training

│          │          │         ├── left_view

│          │          │          │         ├── 000000.png

│          │          │          │         ├── 000001.png

│          │          │          │         ├── ......

│          │          │          ├── right_view

│          │          │          │         ├── ......

│          │          │          ├── disp

│          │          │          │         ├── ......

│          │          │          ├── disp_high_acc

│          │          │          │         ├── 000000.tiff

│          │          │          │         ├── ......

│          │          ├── testing

│          │          │          ├── left_view

│          │          │          ├── right_view

│          │          │          ├── disp

│          │          │          ├── disp_high_acc

│          ├── spinach

│          ├── ......

Download

You can use the following links to download out PlantStereo dataset.

Baidu Netdisk link

Google Drive link

Usage

• sample.py

To construct the dataset, you can run the code in sample.py in your terminal:

conda activate <your_anaconda_virtual_environment>
python sample.py --num 0

We can registrate the image and transformate the coordinate through function mech_zed_alignment():

def mech_zed_alignment(depth, mech_height, mech_width, zed_height, zed_width):
    ground_truth = np.zeros(shape=(zed_height, zed_width), dtype=float)
    for v in range(0, mech_height):
        for u in range(0, mech_width):
            i_mech = np.array([[u], [v], [1]], dtype=float)  # 3*1
            p_i_mech = np.dot(np.linalg.inv(K_MECH), i_mech * depth[v, u])  # 3*1
            p_i_zed = np.dot(R_MECH_ZED, p_i_mech) + T_MECH_ZED  # 3*1
            i_zed = np.dot(K_ZED_LEFT, p_i_zed) * (1 / p_i_zed[2])  # 3*1
            disparity = ZED_BASELINE * ZED_FOCAL_LENGTH * 1000 / p_i_zed[2]
            u_zed = i_zed[0]
            v_zed = i_zed[1]
            coor_u_zed = round(u_zed[0])
            coor_v_zed = round(v_zed[0])
            if coor_u_zed < zed_width and coor_v_zed < zed_height:
                ground_truth[coor_v_zed][coor_u_zed] = disparity
    return ground_truth

• epipole_rectification.py

  After collecting the left, right and disparity images throuth sample.py, we can perform epipole rectification on left and right images through epipole_rectification.py:

  python epipole_rectification.py

Citation

If you use our PlantStereo dataset in your research, please cite this publication:

@misc{PlantStereo,
    title={PlantStereo: A Stereo Matching Benchmark for Plant Surface Dense Reconstruction},
    author={Qingyu Wang, Baojian Ma, Wei Liu, Mingzhao Lou, Mingchuan Zhou, Huanyu Jiang and Yibin Ying},
    howpublished = {\url{https://github.com/wangqingyu985/PlantStereo}},
    year={2021}
}

Acknowledgements

This project is mainly based on:

zed-python-api

mecheye_python_interface

Contact

If you have any questions, please do not hesitate to contact us through E-mail or issue, we will reply as soon as possible.

[email protected] or [email protected]