OpenCV 实时景深

#coding=utf-8
import cv2
import numpy as np
import usb.core
import usb.backend.libusb1
import requests
import time
from matplotlib import pyplot as plt

cap = cv2.VideoCapture(1)
backend = usb.backend.libusb1.get_backend(find_library=lambda x: "/usr/lib/libusb-1.0.so")
 # 
dev = usb.core.find(idVendor=0x18e3, idProduct=0x5031, backend=backend)
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x50,0xff])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0xf6])
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x25,0x00])
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x5f,0xfe])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x03])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x02])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x12])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x04])
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x76,0xc3])
dev.ctrl_transfer(0x21,0x01,0x0a00,0x0600,[4,0x00])   

firstFrame = None
window_size = 0 
while(1):
        ret, frame = cap.read()
        frame = cv2.resize(frame, (1280, 480), interpolation=cv2.CV_8SC1)
        #cv2.cvtColor(frame, frame, cv2.COLOR_BGR2GRAY);
        frame_left_old = frame[0:480,0:640] 
        frame_left = cv2.cvtColor(frame_left_old,  cv2.COLOR_BGR2GRAY);
        frame_right_old = frame[0:480,640:1280]
        frame_right = cv2.cvtColor(frame_right_old,  cv2.COLOR_BGR2GRAY);
        #stereo = cv2.StereoBM_create(numDisparities=32, blockSize=15)
        stereo = cv2.StereoSGBM_create(minDisparity = 16,
            numDisparities = 64,
            blockSize = 16,
            P1 = 8*3*window_size**2,
            P2 = 32*3*window_size**2,
            disp12MaxDiff = 1,
            uniquenessRatio = 10,
            speckleWindowSize = 100,
            speckleRange = 32
        )
        disparity = stereo.compute(frame_left,frame_right)
        disp = cv2.normalize(disparity, disparity, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
        cv2.imshow("h",disp)
        #plt.imshow(disparity,'gray')
        #plt.show()
        if cv2.waitKey(1) & 0xFF == ord('q'):
                break
cap.release()
cv2.destroyAllWindows()

最新文件在 ： https://github.com/endpang/driverless

disparity.py   图片调参
disparity_video.py   视频取图调参

这两个文件是调节摄像头的。其实应该用严格标定，懒得麻烦的，可以用这个工具简单表定下。

left_or_right.py  测试

其中minDisparity是控制匹配搜索的第一个参数，代表了匹配搜苏从哪里开始，numberOfDisparities表示最大搜索视差数uniquenessRatio表示匹配功能函数