python 中 cv2.StereoBM_create(1,2) 参数的含义

本文介绍了Python OpenCV库中用于创建立体图像深度映射的StereoBM_create函数,重点解析了numDisparities和blockSize两个关键参数。numDisparities代表最大和最小视差值的差,需为16的整数倍;blockSize则是匹配块的大小,应为大于1的奇数,通常建议在3到11之间,但可以设置为更大的奇数值。

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python opencv 官方教程中 45章立体图像中的深度地图提到了构建深度图的函数 StereoBM_create。代码如下:

import numpy as np
import cv2
from matplotlib import pyplot as plt
imgL = cv2.imread('tsukuba_l.png',0)
imgR = cv2.imread('tsukuba_r.png',0)
stereo = cv2.createStereoBM(numDisparities=16, blockSize=15)
disparity = stereo.compute(imgL,imgR)
plt.imshow(disparity,'gray')
plt.show()

这里会报错,把 cv2.createStereoBM 修改为 cv2.StereoBM_create,正确代码如下:


import cv2
from matplotlib import pyplot as plt
imgL = cv2.imread('23.jpg',0)
imgR = cv2.imread('24.jpg',0)
stereo = cv2.StereoBM_create(numDisparities=16, blockSize=11)
disparity = stereo.compute(imgL,imgR)
plt.imshow(disparity,'gray')
plt.show()

stereo = cv2.StereoBM_create(numDisparities=16, blockSize=11)

numDisparities:

import cv2 import numpy as np import json from math import pi, sqrt from scipy.spatial import distance class FlameDetector: def __init__(self, calib_file): # 初始化双目视觉参数 self.load_calibration(calib_file) self.init_stereo_matcher() # 火焰检测参数 self.lower_hsv = np.array([10, 100, 100]) # HSV下限 self.upper_hsv = np.array([25, 255, 255]) # HSV上限 self.min_area = 500 # 最小火焰区域 # 形态学核 self.kernel_open = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5,5)) self.kernel_close = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (9,9)) def load_calibration(self, file_path): """加载双目标定参数""" with open(file_path) as f: data = json.load(f) self.K1 = np.array(data['K1']) self.D1 = np.array(data['D1']) self.K2 = np.array(data['K2']) self.D2 = np.array(data['D2']) self.R = np.array(data['R']) self.T = np.array(data['T']) self.Q = np.array(data['Q']) self.image_size = tuple(data['image_size']) # 计算校正映射 self.map1x, self.map1y = cv2.initUndistortRectifyMap( self.K1, self.D1, self.R1, self.P1, self.image_size, cv2.CV_32FC1) self.map2x, self.map2y = cv2.initUndistortRectifyMap( self.K2, self.D2, self.R2, self.P2, self.image_size, cv2.CV_32FC1) def init_stereo_matcher(self): """初始化立体匹配器""" self.stereo = cv2.StereoSGBM_create( minDisparity=0, numDisparities=128, blockSize=11, P1=8*3*11**2, P2=32*3*11**2, disp12MaxDiff=1, uniquenessRatio=10, speckleWindowSize=100, speckleRange=32 ) def preprocess_frame(self, frame): """图像预处理""" hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) mask = cv2.inRange(hsv, self.lower_hsv, self.upper_hsv) mask = cv2.morphologyEx
03-21
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