对极几何基础 与 生成深度图(即视差图)
1>理论示例图(英文,自己动手)
2>理论知识介绍(英文,自己动手)
以上两个个人推荐 先看Opencv官方文档,很基础的哦![嘿嘿]
然后再去网上自己Google 并 阅读 英文文献![嘻嘻]
3>NEW-NOUN:
- 极点 及其查找方法
- 极线 及其绘制
- 视差图 即 深度图
- 特征矩阵E, 基础矩阵F
4>Python-API
| 语法 | retval | = | cv.StereoSGBM_create( | [, minDisparity[, numDisparities[, blockSize[, P1[, P2[, disp12MaxDiff[, preFilterCap[, uniquenessRatio[, speckleWindowSize[, speckleRange[, mode]]]]]]]]]]] |
功能: Creates StereoSGBM object
Parameters: 参数介绍
| minDisparity | Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. |
|---|---|
| numDisparities | Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16. |
| blockSize | Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range. |
| P1 | The first parameter controlling the disparity smoothness. See below. |
| P2 | The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8number_of_image_channelsSADWindowSizeSADWindowSize and 32number_of_image_channelsSADWindowSizeSADWindowSize , respectively). |
| disp12MaxDiff | Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check. |
| preFilterCap | Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. |
| uniquenessRatio | Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. |
| speckleWindowSize | Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. |
| speckleRange | Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. |
| mode | Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming algorithm. It will consume O(WHnumDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . |
