cv.StereoBM_create( [, numDisparities[, blockSize]] ) -> retval 参数 • numDisparities:disparity的搜索范围。 对于每个像素,算法将找到从0(默认的最小视差)到numDisparities的最佳视差。之后,可以通过改变最小视差来改变搜索范围,见StereoSGBM_create()。 • blockSize:块的线性大小。大小应该是奇数(因为块...
}# 构建SGBM对象left_matcher = cv2.StereoSGBM_create(**paraml) paramr = paraml paramr['minDisparity'] = -paraml['numDisparities'] right_matcher = cv2.StereoSGBM_create(**paramr)# 计算视差图size = (left_image.shape[1], left_image.shape[0])ifdown_scale ==False: disparity_left = left...
num_disp = max_disp - min_disp # Needs to be divisible by 16 #Create Block matching object. stereo = cv2.StereoSGBM_create(minDisparity= min_disp, numDisparities = num_disp, blockSize = 5, uniquenessRatio = 5, speckleWindowSize = 5, speckleRange = 5, disp12MaxDiff = 1, P1 = 8*...
opencv 接口 cv::Ptr<cv::StereoSGBM>sgbm=cv::StereoSGBM::create(minDisparity, numDisparity, SADWindowSize, p1, p2, diso12MaxDiff,preFilterCap, uniqueRatio, speckleWindowSize, speckleRange, fullDp); cv::Mat disparity_sgbm; sgbm->compute(frame->left, frame->right, disparity_sgbm); disparity_...
left_matcher = cv2.StereoSGBM_create( minDisparity=-1, numDisparities=5*16, # max_disp has to be dividable by 16 f. E. HH 192, 256 blockSize=window_size, P1=8 * 3 * window_size, # wsize default 3; 5; 7 for SGBM reduced size image; 15 for SGBM full size image (1300px and...
// 创建StereoSGBM对象 cv::Ptr<cv::StereoSGBM> stereo = cv::StereoSGBM::create(minDisparity, numDisparities, blockSize, disp12MaxDiff, uniquenessRatio, speckleWindowSize, speckleRange); cv::Mat disp; // 计算视差 stereo->compute(imgL, imgR, disp); ...
CV_WRAP static Ptr<StereoSGBM> create(int minDisparity = 0, int numDisparities = 16, int blockSize = 3, int P1 = 0, int P2 = 0, int disp12MaxDiff = 0, int preFilterCap = 0, int uniquenessRatio = 0, int speckleWindowSize = 0, ...
在OpenCV中使用函数StereoSGBM ( ) 实现了SGBM算法。SGBM 算法核心步骤为:选取匹配基元;构建基于多个方向的扫描线的代价能量和函数;求取能量代价和函数的最优解。OpenCV中SGMB算法的实现主要分为以下四个步骤: ①预处理 SGBM采用水平Sobel算子,把图像做处理,然后用一个函数将经过水平Sobel算子处理后的图像上每个像素点...
('disp12MaxDiff','disparity',disp12MaxDiff,250,update)stereo=cv2.StereoSGBM_create(minDisparity=min_disp,numDisparities=num_disp,blockSize=window_size,uniquenessRatio=uniquenessRatio,speckleRange=speckleRange,speckleWindowSize=speckleWindowSize,disp12MaxDiff=disp12MaxDiff,P1=P1,P2=P2)update()cv2.wait...
这个validateDisparity 函数是在 OpenCV2.1.0/src/cv/cvstereosgbm.cpp 中定义的,刚才说到的出错,源自以下代码的参数检查: [c-sharp]view plaincopy 00969 CV_Assert( numberOfDisparities > 0 && disp.type() == CV_16S && 00970 (costType == CV_16S || costType == CV_32S) && ...