show_stixels

Code to generate stixels image from .stixels format, for more details check Stixels World on the GPU

How to compile and test

Simply use CMake and target the output directory as "build". In command line this would be (from the project root folder):

mkdir build
cd build
cmake ..
make

Important Parameters

In order to make this code work for your images you should set the following parameters.

Command line parameter:

• Disparity: Maximum disparity of the disparity map, this depends on the stereo-pair cameras

Other parameters (show_stixels.cpp):

• Focal: Depends on the cameras you are using (in pixels)
• Baseline: Depends on the cameras you are using (in meters)
• Camera Center Y: Depends on the cameras you are using (in pixels)
• Column Step: This should be the same used for generating the stixels (in pixels)

How to use it

Type: ./show_stixels dir max_disparity

The argument max_disparity is the maximum disparity of the given disparity images.

dir is the name of the directory which needs this format:

dir
---- left (images taken from the left camera)
---- right (right camera)
---- disparities (disparity maps)
---- stixels (.stixels files)
---- stixlesim (results will be here)

An example is provided, to run it type: ./stixels ./example 128