Windows での Python 3.10 のインストール,pip と setuptools の更新: 別ページ »で説明
Python の公式ページ: https://www.python.org/
※ Windows では「python」,Ubuntu では「sudo python3 -m pip」
python -m pip install -U opencv-python opencv-contrib-python
パソコン接続できるビデオカメラ 2台を準備し,パソコンに接続しておく.
OpenCV による動画表示を行う.
import cv2 import numpy as np v0 = cv2.VideoCapture(0) v1 = cv2.VideoCapture(1) while( ( v0.isOpened() ) and ( v1.isOpened() ) ): r0, bgr0 = v0.read() if ( r0 == False ): break r1, bgr1 = v1.read() if ( r1 == False ): break cv2.imshow("0", bgr0) cv2.imshow("1", bgr1) # Press Q to exit if cv2.waitKey(1) & 0xFF == ord('q'): break v0.release() v1.release() cv2.destroyAllWindows()
※ 止めたいとき,右上の「x」をクリックしない.画面の中をクリックしてから,「q」のキーを押して閉じる
ステレオ画像のうち1枚を、平行移動による位置合わせ
import cv2 import numpy as np v0 = cv2.VideoCapture(0) v1 = cv2.VideoCapture(1) while( ( v0.isOpened() ) and ( v1.isOpened() ) ): r0, bgr0 = v0.read() if ( r0 == False ): break r1, bgr1 = v1.read() if ( r1 == False ): break mono0 = cv2.cvtColor(bgr0, cv2.COLOR_BGR2GRAY) mono1 = cv2.cvtColor(bgr1, cv2.COLOR_BGR2GRAY) f0 = np.array( mono0, dtype='float32') f1 = np.array( mono1, dtype='float32') dxdy, response = cv2.phaseCorrelate(f0, f1) print(dxdy[0], dxdy[1]) bgr0after = cv2.warpAffine(bgr0, np.float32([[1, 0, dxdy[0]], [0, 1, dxdy[1]]]), (f0.shape[1], f0.shape[0])) cv2.imshow("bgr0", bgr0) cv2.imshow("bgr1", bgr1) cv2.imshow("bgr0after", bgr0after) # Press Q to exit if cv2.waitKey(1) & 0xFF == ord('q'): break v0.release() v1.release() cv2.destroyAllWindows()
OpenCV による動画表示を行う.
import cv2 import numpy as np v0 = cv2.VideoCapture(0) v1 = cv2.VideoCapture(1) while( ( v0.isOpened() ) and ( v1.isOpened() ) ): r0, bgr0 = v0.read() if ( r0 == False ): break r1, bgr1 = v1.read() if ( r1 == False ): break mono0 = cv2.cvtColor(bgr0, cv2.COLOR_BGR2GRAY) mono1 = cv2.cvtColor(bgr1, cv2.COLOR_BGR2GRAY) f0 = np.array( mono0, dtype='float32') f1 = np.array( mono1, dtype='float32') dxdy, response = cv2.phaseCorrelate(f0, f1) print(dxdy[0], dxdy[1]) bgr0after = cv2.warpAffine(bgr0, np.float32([[1, 0, dxdy[0]], [0, 1, dxdy[1]]]), (bgr0.shape[1], bgr0.shape[0])) window_size = 3 min_disp = 16 num_disp = 112-min_disp stereo = cv2.StereoSGBM_create(minDisparity = min_disp, numDisparities = num_disp, blockSize = 8, P1 = 8*3*window_size**2, P2 = 32*3*window_size**2, disp12MaxDiff = 1, uniquenessRatio = 10, speckleWindowSize = 200, speckleRange = 1 ) disparity = stereo.compute(bgr0after, bgr1).astype(np.float32) / 16.0 cv2.imshow("bgr0", bgr0) cv2.imshow("bgr1", bgr1) cv2.imshow("bgr0after", bgr0after) cv2.imshow('disparity', (disparity-min_disp)/num_disp) # Press Q to exit if cv2.waitKey(1) & 0xFF == ord('q'): break v0.release() v1.release() cv2.destroyAllWindows()
※ 止めたいとき,右上の「x」をクリックしない.画面の中をクリックしてから,「q」のキーを押して閉じる