詳情看論文或者大佬的博客吧,這裏只是用python試一下。
代碼:
import numpy as np
import cv2
from matplotlib import pyplot as plt
imgL = cv2.imread('/home/your/left/image')
imgR = cv2.imread('/home/your/right/image')
# disparity range tuning
window_size = 3
min_disp = 0
num_disp = 320 - min_disp
stereo = cv2.StereoSGBM_create(
minDisparity=0,
numDisparities=240, # max_disp has to be dividable by 16 f. E. HH 192, 256
blockSize=3,
P1=8 * 3 * window_size ** 2,
# wsize default 3; 5; 7 for SGBM reduced size image; 15 for SGBM full size image (1300px and above); 5 Works nicely
P2=32 * 3 * window_size ** 2,
disp12MaxDiff=1,
uniquenessRatio=15,
speckleWindowSize=0,
speckleRange=2,
preFilterCap=63,
mode=cv2.STEREO_SGBM_MODE_SGBM_3WAY
)
disparity = stereo.compute(imgL, imgR).astype(np.float32) / 16.0
plt.imshow(disparity, 'gray')
plt.show()
圖片: