def compute_disparity(left_image, right_image, maximum_disparity, noise_filter,
width):
"""
Input:
-Left & Rectified Right Images, Maximum Disparity Value
-Noise filter: increase to be more aggressive
Output:
-Disparity between images, scaled appropriately
"""
# convert to grayscale (as the disparity matching works on grayscale)
grayL, grayR = convert_to_grayscale([left_image, right_image])
# perform preprocessing - raise to the power, as this subjectively appears
# to improve subsequent disparity calculation
grayL = np.power(grayL, 0.75).astype('uint8')
grayR = np.power(grayR, 0.75).astype('uint8')
# compute disparity image from undistorted and rectified stereo images
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = stereoProcessor.compute(grayL, grayR)
# filter out noise and speckles (adjust parameters as needed)
cv2.filterSpeckles(disparity, 0, 4000, maximum_disparity - noise_filter)
# threshold the disparity so that it goes from 0 to max disparity
_, disparity = cv2.threshold(disparity, 0, maximum_disparity * 16,
cv2.THRESH_TOZERO)
# scale the disparity to 8-bit for viewing
disparity_scaled = (disparity / 16.).astype(np.uint8)
# crop area not seen by *both* cameras and and area with car bonnet
disparity_scaled = utils.crop_image(disparity_scaled, 0, 390, 135, width)
return disparity_scaled
def disparity(grayL, grayR, max_disparity, crop_disparity):
# compute disparity image from undistorted and rectified stereo images
# that we have loaded
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = stereoProcessor.compute(grayL, grayR)
# filter out noise and speckles (adjust parameters as needed)
dispNoiseFilter = 5
# increase for more agressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
# crop disparity to chop out left part where there are with no disparity
# as this area is not seen by both cameras and also
# chop out the bottom area (where we see the front of car bonnet)
if (crop_disparity):
width = np.size(disparity_scaled, 1)
disparity_scaled = disparity_scaled[0:390, 135:width]
# display image (scaling it to the full 0->255 range based on the number
# of disparities in use for the stereo part)
disparity_scaled = (disparity_scaled * (256. / max_disparity)).astype(
np.uint8)
return disparity_scaled
def disparity_map(l_img_g, r_img_g, WLS=False):
max_disparity = 128
left_matcher = cv2.StereoSGBM_create(0, max_disparity, 21)
if WLS:
right_matcher = cv2.ximgproc.createRightMatcher(left_matcher)
lmbda = 80000
sigma = 1.2
wls_filter = cv2.ximgproc.createDisparityWLSFilter(
matcher_left=left_matcher)
wls_filter.setLambda(lmbda)
wls_filter.setSigmaColor(sigma)
disparityL = left_matcher.compute(l_img_g, r_img_g)
if WLS:
disparityR = right_matcher.compute(l_img_g, r_img_g)
disparity = wls_filter.filter(disparityL, l_img_g, None, disparityR)
else:
disparity = disparityL
dispNoiseFilter = 5
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
disparity_scaled = disparity_scaled[0:390]
return disparity_scaled
def create_disparity_map(self,
left_img,
right_img,
is_rectify_enabled=True):
# left_img = cv2.imread(left_img_path, cv2.IMREAD_GRAYSCALE)
# right_img = cv2.imread(right_img_path, cv2.IMREAD_GRAYSCALE)
if is_rectify_enabled:
left_img_rect, right_img_rect = self.rectification(
left_img, right_img) # Rectification using Homography
# print("rectified")
else:
left_img_rect = left_img
right_img_rect = right_img
self.disparity = self.stereoProcessor.compute(left_img_rect,
right_img_rect)
cv2.filterSpeckles(self.disparity, 0, 60, self.max_disparity)
_, self.disparity = cv2.threshold(self.disparity, 0,
self.max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (self.disparity / 16.).astype(np.uint8)
# frame = cv2.applyColorMap(disparity_scaled, cv2.COLORMAP_HOT)
# frame[frame > 200] = 0
# cv2.imshow("Scaled Disparity stream", frame)
disparity_colour_mapped = cv2.applyColorMap(
(disparity_scaled * (256. / self.max_disparity)).astype(np.uint8),
cv2.COLORMAP_HOT)
cv2.imshow("Disparity", disparity_colour_mapped)
cv2.imshow("rectified left", left_img_rect)
cv2.imshow("rectified right", right_img_rect)
def calculate_disparity(left_image, right_image):
grayL = cv2.cvtColor(left_image, cv2.COLOR_BGR2GRAY)
grayR = cv2.cvtColor(right_image, cv2.COLOR_BGR2GRAY)
grayL = np.power(grayL, 0.75).astype('uint8')
grayR = np.power(grayR, 0.75).astype('uint8')
# compute disparity image from undistorted and rectified stereo images
# that we have loaded
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = STEREO_PROCESSOR.compute(grayL, grayR)
# filter out noise and speckles (adjust parameters as needed)
dispNoiseFilter = 5 # increase for more aggressive filtering
cv2.filterSpeckles(disparity, 0, 4000, MAX_DISPARITY - dispNoiseFilter)
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
#
_, disparity = cv2.threshold(disparity, 0, MAX_DISPARITY * 16,
cv2.THRESH_TOZERO)
disparity = (disparity / 16.).astype(np.uint8)
return disparity
def get_distance_disparity(filename_left):
# gets the left and right filenames
full_path_filename_left, full_path_filename_right = get_lr_pair(
filename_left)
# returns the images from the filenames
imgL, imgR = get_lr_images(filename_left, full_path_filename_left,
full_path_filename_right)
# adds preprocessing to the images
grayL, grayR = lr_preprocessing(imgL, imgR)
disparity = distanceProcessor.compute(grayL, grayR)
dispNoiseFilter = 5
# increase for more agressive filtering
# removes disparity noise
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
width = np.size(disparity_scaled, 1)
disparity_scaled = disparity_scaled[0:390, 135:width]
return disparity_scaled
def FilterSpeckles(root, suffix):
"""
batch processing
"""
if not os.path.isdir(root):
print("[Err]: invalid root.")
return
for f_name in os.listdir(root):
if not f_name.endswith(suffix):
continue
f_path = root + "/" + f_name
img = cv2.imread(f_path, cv2.IMREAD_UNCHANGED)
if img is None:
print("[Err]: empty image.")
return
if len(img.shape) == 2:
H, W = img.shape
elif len(img.shape) == 3:
H, W, N = img.shape
maxSpeckleSize = int((H * W) / 810.0 + 0.5)
maxDiff = 10
# ------------- remove speckles
out = copy.deepcopy(img)
cv2.filterSpeckles(out, 0, maxSpeckleSize, maxDiff)
# -------------
# save output
out_name = f_name.replace(".jpg", "_filter.jpg")
out_path = root + "/" + out_name
cv2.imwrite(out_path, out)
print("%s exported" % (out_name))
def edit_disparity(disparity, max_disparity, dispNoiseFilter):
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
_, disparity = cv2.threshold(disparity,0, max_disparity * 16, cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
if (crop_disparity):
width = np.size(disparity_scaled, 1)
disparity_scaled = disparity_scaled[0:390,135:width]
return disparity_scaled
def filter_speckles(disparity):
"""
Filter out noise and speckles.
"""
disparity_noise_filter = 5
max_speckle_size = 4000
cv2.filterSpeckles(disparity, 0, max_speckle_size,
max_disparity - disparity_noise_filter)
def calc_disparity_map(gl_img, gr_img):
disparity = stereoProcessor.compute(gl_img, gr_img)
dispNoiseFilter = 8 # increase for more agressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity = (disparity / 16.)
return disparity
def compute_disparity(filepath, M1, d1, M2, d2, R, T, img_shape, window_size):
R1, R2, P1, P2, Q, valid_pix_roi1, _valid_pix_roi2 = cv2.stereoRectify(
M1, d1, M2, d2, img_shape, R, T, alpha=-1)
map1_x, map1_y = cv2.initUndistortRectifyMap(M1, d1, R1, P1, img_shape,
cv2.CV_32FC1)
map2_x, map2_y = cv2.initUndistortRectifyMap(M2, d2, R2, P2, img_shape,
cv2.CV_32FC1)
img_left = glob.glob(filepath + '/rectified_left/*.jpg')
img_right = glob.glob(filepath + '/rectified_right/*.jpg')
img_left.sort()
img_right.sort()
for i, fname in enumerate(img_left):
img_l = cv2.imread(img_left[i])
img_r = cv2.imread(img_right[i])
gray_l = cv2.cvtColor(img_l, cv2.COLOR_BGR2GRAY)
gray_r = cv2.cvtColor(img_r, cv2.COLOR_BGR2GRAY)
undistorted_rectified_l = cv2.remap(gray_l, map1_x, map1_y,
cv2.INTER_LINEAR, img_shape) #
undistorted_rectified_r = cv2.remap(gray_r, map2_x, map2_y,
cv2.INTER_LINEAR, img_shape) #
max_disparity = 128
# window_size = 21
# num = 5
stereo_processor = cv2.StereoSGBM_create(
0, max_disparity, window_size, 8 * window_size * window_size,
32 * window_size * window_size)
# stereo_processor = cv2.StereoBM_create(16 * num, window_size)
disparity = stereo_processor.compute(undistorted_rectified_l,
undistorted_rectified_r)
cv2.filterSpeckles(disparity, 0, 4000, 128)
disparity_scaled = (disparity / 16.).astype(np.uint8) + abs(
disparity.min())
# disparity_scaled = cv2.normalize(disparity, disparity, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
threeD = cv2.reprojectImageTo3D(disparity.astype(np.float32) / 16., Q)
cv2.imshow('img_l', undistorted_rectified_l)
cv2.imshow('img_r', undistorted_rectified_r)
#display disparity
cv2.imshow('img_disparity', disparity_scaled)
cv2.waitKey(0)
cv2.destroyAllWindows()
def depth_map(imgL, imgR):
""" Depth map calculation. Works with SGBM and WLS. Need rectified images,
#returns depth map ( left to right disparity ) """
# SGBM Parameters -----------------
window_size = wsize_.get() # wsize default 3; 5; 7 for SGBM reduced size image; 15 for SGBM full size image (1300px and above); 5 Works nicely
stereo = cv.StereoSGBM_create(
minDisparity=minD_.get(),
numDisparities=numD_.get(), # max_disp has to be dividable by 16 f. E. HH 192, 256
blockSize=window_size,
P1=P1__.get() * 3 * window_size,
P2=P2__.get() * 3 * window_size,
disp12MaxDiff=d12Maxd_.get(),
uniquenessRatio=uniqR_.get(),
speckleWindowSize=speckWsize_.get(),
speckleRange=speckR_.get(),
preFilterCap=preFC_.get(),
mode=cv.STEREO_SGBM_MODE_SGBM_3WAY
)
leftGr = cv.cvtColor(imgL, cv.COLOR_BGR2GRAY)
rightGr = cv.cvtColor(imgR, cv.COLOR_BGR2GRAY)
## cv.imshow("Gray Left", leftGr)
## cv.imshow("Gray Right", rightGr)
disparity = stereo.compute(leftGr, rightGr)#.astype(np.float32)/16
cv.filterSpeckles(disparity, 0, 32, numD_.get())
Threshold_Demo(0,disparity,disparity)
#_, disparity = cv.threshold(disparity, 0, numD_.get(), cv.THRESH_TOZERO)
# Call the function to initialize
disparity_scaled = (disparity / 16.).astype(np.uint8)
## # FILTER Parameters
## lmbda = 80000
## sigma = 1.3
## visual_multiplier = 6
##
## wls_filter = cv2.ximgproc.createDisparityWLSFilter(matcher_left=left_matcher)
## wls_filter.setLambda(lmbda)
##
## wls_filter.setSigmaColor(sigma)
## displ = left_matcher.compute(imgL, imgR) # .astype(np.float32)/16
## dispr = right_matcher.compute(imgR, imgL) # .astype(np.float32)/16
## displ = np.int16(displ)
## dispr = np.int16(dispr)
## filteredImg = wls_filter.filter(displ, imgL, None, dispr) # important to put "imgL" here!!!
##
## filteredImg = cv.normalize(src=filteredImg, dst=filteredImg, beta=0, alpha=255, norm_type=cv2.NORM_MINMAX);
## filteredImg = np.uint8(filteredImg)
return disparity_scaled
def postprocess(leftDisparity, rightDisparity, originalLeftImage):
''' Post processing on disparity map for more accurate readings '''
disparity = weightedLeastSquareFilter.filter(
leftDisparity, originalLeftImage, None, rightDisparity)
noiseFilter = 5
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - noiseFilter)
_, disparity = cv2.threshold(
disparity, 0, max_disparity * 16, cv2.THRESH_TOZERO)
disparity = (disparity / 16.).astype(np.uint8)
return disparity
def get_disparity(l_image, r_image):
""" Calculates the image disparity between a left and right image.
Parameters:
l_image (numpy.array) - The left image.
r_image (numpy.array) - The right image.
Attributes:
stereo_processor (cv2.StereoSGBM) - A modified SGBM algorithm.
l_gray (numpy.array) - The left grayscale image.
r_gray (numpy.array) - The right grayscale image.
disparity (numpy.array) - The image disparity.
disparity_scaled (numpy.array) - The image disparity scaled.
Returns:
The disparity between the left and right images.
"""
# Initialise the modified implementation of the SGBM algorithm.
stereo_processor = cv2.StereoSGBM_create(0, params.MAX_DISPARITY, 21)
# Get the left and right grayscale images.
l_gray = cv2.cvtColor(l_image, cv2.COLOR_BGR2GRAY)
r_gray = cv2.cvtColor(r_image, cv2.COLOR_BGR2GRAY)
# Subjectively appears to improve subsequent disparity calculation.
l_gray = np.power(l_gray, 0.75).astype('uint8')
r_gray = np.power(r_gray, 0.75).astype('uint8')
# Compute the disparity between the left and right images.
disparity = stereo_processor.compute(l_gray, r_gray)
# Filter out the salt and pepper noise.
cv2.filterSpeckles(disparity, 0, 4000,
params.MAX_DISPARITY - params.DISPARITY_NOISE_FILTER)
# Scale the disparity to 8-bit for viewing.
_, disparity = cv2.threshold(disparity, 0, params.MAX_DISPARITY * 16,
cv2.THRESH_TOZERO)
# Divide by 16 and convert to 8-bit image.
disparity_scaled = (disparity / 16.).astype(np.uint8)
# Display the image.
output_img = cv2.resize(disparity_scaled, (960, 520))
cv2.imshow("disparity",
(output_img * (256. / params.MAX_DISPARITY)).astype(np.uint8))
key = cv2.waitKey(200)
return disparity_scaled
def computeDisparity(img_rect1, img_rect2):
max_disparity = 128
min_disparity = 0
num_disparities = max_disparity - min_disparity # divisible by 16
window_size = 21 # odd number in 3--11 range
stereoProcessor = cv2.StereoSGBM_create(min_disparity, num_disparities,
window_size)
disparity = stereoProcessor.compute(img_rect1, img_rect2)
cv2.filterSpeckles(disparity, 0, 400, max_disparity - 5)
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16).astype(np.uint8)
return disparity_scaled
def get_disparity(left_image, right_image):
disparity = stereoProcessor.compute(left_image, right_image)
# filter out noise and speckles (adjust parameters as needed)
disp_noise_filter = 5 # increase for more aggressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - disp_noise_filter)
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
scaled = (disparity / 16.).astype(np.uint8)
return scaled
def calculateDisparity(filename_left, master_path_to_dataset, skip_forward_file_pattern):
# Create paths to read files
full_path_directory_left = os.path.join(master_path_to_dataset, directory_to_cycle_left);
full_path_directory_right = os.path.join(master_path_to_dataset, directory_to_cycle_right);
filename_right = filename_left.replace("_L", "_R");
full_path_filename_left = os.path.join(full_path_directory_left, filename_left);
full_path_filename_right = os.path.join(full_path_directory_right, filename_right);
if ('.png' in filename_left) and (os.path.isfile(full_path_filename_right)) :
# Read in images
imgL = cv2.imread(full_path_filename_left, cv2.IMREAD_COLOR)
imgR = cv2.imread(full_path_filename_right, cv2.IMREAD_COLOR)
# Convert to greyscale
grayL = cv2.cvtColor(imgL,cv2.COLOR_BGR2GRAY)
grayR = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY)
grayL = np.power(grayL, 0.75).astype('uint8')
grayR = np.power(grayR, 0.75).astype('uint8')
# Compute disparity
disparity = stereoProcessor.compute(grayL,grayR)
# Filter noise
dispNoiseFilter = 5
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
_, disparity = cv2.threshold(disparity,0, max_disparity * 16, cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
# Return file's disparity image
return disparity_scaled
return None
#cv2.imshow("disparity", calculateDisparity('1506942473.484027_L.png', "../TTBB-durham-02-10-17-sub10", ""))
#cv2.waitKey()
def compute_disparity(imgL, imgR, display=False):
# setup the disparity stereo processor to find a maximum of 128 disparity values
# (adjust parameters if needed - this will effect speed to processing)
grayL = imgL
grayR = imgR
if isinstance(
imgL[0][0],
list): # If not grayscale (and hance has a list for each pixel)
grayL = cv2.cvtColor(imgL, cv2.COLOR_BGR2GRAY)
grayR = cv2.cvtColor(imgR, cv2.COLOR_BGR2GRAY)
max_disparity = 128
stereoProcessor = cv2.StereoSGBM_create(0, max_disparity, 21)
# compute disparity image from undistorted and rectified stereo images
# that we have loaded
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = stereoProcessor.compute(grayL, grayR)
# filter out noise and speckles (adjust parameters as needed)
dispNoiseFilter = 5
# increase for more agressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
# display image (scaling it to the full 0->255 range based on the number
# of disparities in use for the stereo part)
if display:
cv2.imshow("disparity", (disparity_scaled *
(255. / max_disparity)).astype(np.uint8))
cv2.waitKey(0)
return disparity_scaled
def stereo_disparity(filepath_left, filepath_right, crop_disparity=False):
"""Calculate the stereo disparity between two images
Args:
filepath_left (string): location of the left image
filepath_right (string): loaction of the right image
crop_disparity (bool): crop disparity to chop out left part where there
are with no disparity as this area is not seen by both cameras and
also chop out the bottom area (where we see the front of car bonnet)
show_disparity (bool): show the calculated disparity
Returns:
disparity: the stereo disparity of the two images
"""
max_disparity = 128
stereoProcessor = cv2.StereoSGBM_create(0, max_disparity, 21)
imgL = cv2.imread(filepath_left, cv2.IMREAD_COLOR)
imgR = cv2.imread(filepath_right, cv2.IMREAD_COLOR)
grayL = cv2.cvtColor(imgL, cv2.COLOR_BGR2GRAY)
grayR = cv2.cvtColor(imgR, cv2.COLOR_BGR2GRAY)
# preprocess images by raising to a power - subjectively better response
grayL = np.power(grayL, 0.75).astype('uint8')
grayR = np.power(grayR, 0.75).astype('uint8')
disparity = stereoProcessor.compute(grayL, grayR)
# apply a noise filter
dispNoiseFilter = 5 # increase for more agressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
if (crop_disparity):
width = np.size(disparity_scaled, 1)
disparity_scaled = disparity_scaled[0:390, 135:width]
output_image = (disparity_scaled * (256. / max_disparity)).astype(np.uint8)
return output_image
def readText(self,
image,
ocr_config,
thresh_val,
speck_size=1,
scale_x=1,
scale_y=1,
border_size=100,
shrink_border=5,
invert=False,
name=False,
debug=False):
# convert the input image to grayscale for better reading
image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
# threshold the image to prepare it for OCR reading
ret, image = cv2.threshold(image, thresh_val, 255, cv2.THRESH_BINARY)
# filter out unexpected pixel speckles
cv2.filterSpeckles(image, 0, speck_size, speck_size)
# invert image colours if necessary
if invert:
image = cv2.bitwise_not(image)
# compute the new dimensions for the image to counteract small natural dimensions
width = image.shape[1] * scale_x
height = image.shape[0] * scale_y
# re-scale the image
image = cv2.resize(image, (width, height),
interpolation=cv2.INTER_AREA)
# trim the white border from around the image, to increase OCR quality
image = self._trimBorder(image, border_size, shrink_border, name)
if debug:
cv2.imwrite('./debug_data/debug_text.png', image)
# call PyTesseract reader function and return the found text
return pytesseract.image_to_string(image,
lang='eng',
config=ocr_config)
def run(batch_idx, left_path, right_path):
model.eval()
a = cv2.imread(left_path, cv2.IMREAD_COLOR)
b = cv2.imread(right_path, cv2.IMREAD_COLOR)
sgm = cv2.StereoSGBM_create(
0,
128,
11,
uniquenessRatio=15,
) # block size
disp = sgm.compute(a, b)
cv2.filterSpeckles(disp, 0, 40, 128)
_, disp = cv2.threshold(disp, 0, 128 * 16, cv2.THRESH_TOZERO)
disp_scaled = (disp / 16.)
display_and_save(batch_idx, disp_scaled, 0, 0)
print(batch_idx)
def Disparity(img0, img1):
#Aqui foi usada a funcao cv2.StereoSGBM.
#fonte: http://timosam.com/python_opencv_depthimage
#adaptado
window_size = 11
stereoE = cv2.StereoSGBM_create(minDisparity = 16, numDisparities = 80, blockSize=11,
P1= 968,
P2 = 3872,
disp12MaxDiff=1,
uniquenessRatio=15,
speckleWindowSize=150,
speckleRange=2,
preFilterCap=63,
mode = 1)
stereoD = cv2.ximgproc.createRightMatcher(stereoE)
# FILTER Parameters
lmbda = 8000
sigma = 2
visual_multiplier = 1.0
wls_filter = cv2.ximgproc.createDisparityWLSFilter(matcher_left=stereoE)
wls_filter.setLambda(lmbda)
wls_filter.setSigmaColor(sigma)
displ = stereoE.compute(img0, img1)
dispr = stereoD.compute(img1, img0)
displ = np.int16(displ)
dispr = np.int16(dispr)
filteredImg = wls_filter.filter(displ, img0, None, dispr)
cv2.filterSpeckles(filteredImg, 16, 4000, 256)
filteredImg = cv2.normalize(src=filteredImg, dst=filteredImg, beta=0, alpha=255, norm_type=cv2.NORM_MINMAX)
filteredImg = np.uint8(filteredImg)
return filteredImg
def Test():
"""
"""
dir = "E:/office/dense/stereo/depth_maps/dslr_images_undistorted"
# dir = "F:/ETH3DResults/pipes/result/depth_maps"
# img_path = dir + "/" + "DSC_0635.JPG.geometric.bin.jpg"
img_path = dir + "/" + "DSC_0219.JPG.geometric.bin_win6.jpg"
if not os.path.isfile(img_path):
print("[Err]: invalid file path")
return
img = cv2.imread(img_path, cv2.IMREAD_UNCHANGED)
if img is None:
print("[Err]: empty image.")
return
RATIO = 0.35
# H, W = img.shape
if len(img.shape) == 2:
H, W = img.shape
elif len(img.shape) == 3:
H, W, N = img.shape
img_rs = cv2.resize(img, (int(W * RATIO), int(H * RATIO)),
cv2.INTER_LINEAR)
cv2.imshow("img", img_rs)
maxSpeckleSize = int((H * W) / 810.0 + 0.5)
maxDiff = 10
# ------------- remove speckles
out = copy.deepcopy(img)
cv2.filterSpeckles(out, 0, maxSpeckleSize, maxDiff) # uint8怪不得可以处理...
# -------------
out_rs = cv2.resize(out, (int(W * RATIO), int(H * RATIO)),
cv2.INTER_LINEAR)
cv2.imshow("filtered", out_rs)
cv2.waitKey()
def get_depth_points(imgL, imgR, is_sparse, use_fg_mask):
# convert to grayscale
grayL = cv2.cvtColor(imgL, cv2.COLOR_BGR2GRAY)
grayR = cv2.cvtColor(imgR, cv2.COLOR_BGR2GRAY)
# Different methods based on sparse and dense implementations
if is_sparse:
grayL = preprocess_sparse(grayL)
grayR = preprocess_sparse(grayR)
disparity = get_sparse_disp(grayL, grayR)
else:
grayL = preprocess_dense(grayL)
grayR = preprocess_dense(grayR)
# Disparity using left and right matching + wls filter
disparity = disp_with_wls_filtering(grayL, grayR)
dispNoiseFilter = 10 # increase for more agressive filtering
# filter out noise and speckles (adjust parameters as needed)
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
if use_fg_mask:
fg_mask = get_fg_mask(imgL)
fg_mask = post_process_for_bg(fg_mask)
# Only keep foreground values
disparity = (fg_mask / 255).astype(np.uint8) * disparity
_, disparity_scaled = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
if is_sparse:
disparity_scaled = disparity
else:
disparity_scaled = (disparity / 16).astype(np.uint8)
cv2.imshow('Dense disparity',
(disparity_scaled * (256 / max_disparity)).astype(np.uint8))
points = project_disparity_to_2d_with_depth(disparity_scaled,
max_disparity)
return points
def calculateDisparity(imgL, imgR):
#calculates the disparity image for a pair of stereo images
stereoProcessor = cv2.StereoSGBM_create(minDisparity=0,
numDisparities=max_disparity,
blockSize=21)
#convert images to greyscale
grayL = cv2.cvtColor(imgL, cv2.COLOR_BGR2GRAY)
grayR = cv2.cvtColor(imgR, cv2.COLOR_BGR2GRAY)
#to reduce the impact of variable illumination
clahe = cv2.createCLAHE(clipLimit=10.0, tileGridSize=(8, 8))
grayL = clahe.apply(grayL)
grayR = clahe.apply(grayR)
#grayL = cv2.equalizeHist(grayL)
#grayR = cv2.equalizeHist(grayR)
#raise to power to improve calculation
grayL = np.power(grayL, 0.75).astype('uint8')
grayR = np.power(grayR, 0.75).astype('uint8')
disparity = stereoProcessor.compute(grayL, grayR)
#reduce noise
dispNoiseFilter = 5
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter)
_, disparity = cv2.threshold(disparity, 0, max_disparity * 16,
cv2.THRESH_TOZERO)
disparity_scaled = (disparity / 16.).astype(np.uint8)
#crops unique sections of each camera
if (crop_disparity):
width = np.size(disparity_scaled, 1)
disparity_scaled = disparity_scaled[0:390, 135:width]
return disparity_scaled
def disparity(illumeL, illumeR):
# convert to grayscale (as the disparity matching works on grayscale)
grayL = cv2.cvtColor(illumeL, cv2.COLOR_BGR2GRAY);
grayR = cv2.cvtColor(illumeR, cv2.COLOR_BGR2GRAY)
# compute disparity image from undistorted and rectified stereo images that we have loaded, scale by 16
disparity = stereoProcessor.compute(grayL,grayR);
# filter out noise and speckles (adjust parameters as needed)
dispNoiseFilter = 5; # increase for more agressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter);
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity,0, max_disparity * 16, cv2.THRESH_TOZERO);
disparity_scaled = (disparity / 16.).astype(np.uint8);
# crop disparity to chop out left part where there are with no disparity
# as this area is not seen by both cameras and also
# chop out the bottom area (where we see the front of car bonnet)
if (crop_disparity):
width = np.size(disparity_scaled, 1);
disparity_scaled = disparity_scaled[0:390,135:width];
# display image (scaling it to the full 0->255 range based on the number
# of disparities in use for the stereo part)
disparity_scaled = (disparity_scaled * (256. / max_disparity)).astype(np.uint8);
return disparity_scaled
# remember to convert to grayscale (as the disparity matching works on grayscale)
# N.B. need to do for both as both are 3-channel images
grayL = cv2.cvtColor(imgL,cv2.COLOR_BGR2GRAY);
grayR = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY);
# compute disparity image from undistorted and rectified stereo images
# that we have loaded
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = stereoProcessor.compute(grayL,grayR);
# filter out noise and speckles (adjust parameters as needed)
dispNoiseFilter = 5; # increase for more agressive filtering
cv2.filterSpeckles(disparity, 0, 4000, max_disparity - dispNoiseFilter);
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity,0, max_disparity * 16, cv2.THRESH_TOZERO);
disparity_scaled = (disparity / 16.).astype(np.uint8);
# display image (scaling it to the full 0->255 range based on the number
# of disparities in use for the stereo part)
cv2.imshow("disparity", (disparity_scaled * (255. / max_disparity)).astype(np.uint8));
# remember to convert to grayscale (as the disparity matching works on grayscale)
grayL = cv2.cvtColor(frameL,cv2.COLOR_BGR2GRAY);
grayR = cv2.cvtColor(frameR,cv2.COLOR_BGR2GRAY);
# undistort and rectify based on the mappings (could improve interpolation and image border settings here)
# N.B. mapping works independant of number of image channels
undistorted_rectifiedL = cv2.remap(grayL, mapL1, mapL2, cv2.INTER_LINEAR);
undistorted_rectifiedR = cv2.remap(grayR, mapR1, mapR2, cv2.INTER_LINEAR);
# compute disparity image from undistorted and rectified versions
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = stereoProcessor.compute(undistorted_rectifiedL,undistorted_rectifiedR);
cv2.filterSpeckles(disparity, 0, 4000, 128);
# scale the disparity to 8-bit for viewing
disparity_scaled = (disparity / 16.).astype(np.uint8) + abs(disparity.min())
# display image
cv2.imshow(windowNameL,undistorted_rectifiedL);
cv2.imshow(windowNameR,undistorted_rectifiedR);
#display disparity
cv2.imshow(windowNameD, disparity_scaled);
# start the event loop - essential
# remember to convert to grayscale (as the disparity matching works on grayscale)
grayL = cv2.cvtColor(frameL,cv2.COLOR_BGR2GRAY);
grayR = cv2.cvtColor(frameR,cv2.COLOR_BGR2GRAY);
# undistort and rectify based on the mappings (could improve interpolation and image border settings here)
# N.B. mapping works independant of number of image channels
undistorted_rectifiedL = cv2.remap(grayL, mapL1, mapL2, cv2.INTER_LINEAR);
undistorted_rectifiedR = cv2.remap(grayR, mapR1, mapR2, cv2.INTER_LINEAR);
# compute disparity image from undistorted and rectified versions
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
disparity = stereoProcessor.compute(undistorted_rectifiedL,undistorted_rectifiedR);
cv2.filterSpeckles(disparity, 0, 40, max_disparity);
# scale the disparity to 8-bit for viewing
# divide by 16 and convert to 8-bit image (then range of values should
# be 0 -> max_disparity) but in fact is (-1 -> max_disparity - 1)
# so we fix this also using a initial threshold between 0 and max_disparity
# as disparity=-1 means no disparity available
_, disparity = cv2.threshold(disparity,0, max_disparity * 16, cv2.THRESH_TOZERO);
disparity_scaled = (disparity / 16.).astype(np.uint8);
# display image
cv2.imshow(windowNameL,undistorted_rectifiedL);
cv2.imshow(windowNameR,undistorted_rectifiedR);
rvalLeft, frameLeft = vcLeft.retrieve()
rvalRight, frameRight = vcRight.retrieve()
frameLeftNew = cv2.cvtColor(frameLeft, cv2.COLOR_BGR2GRAY)
frameRightNew = cv2.cvtColor(frameRight, cv2.COLOR_BGR2GRAY)
leftRectified = cv2.remap(frameLeftNew, leftMapX, leftMapY, cv2.INTER_LINEAR);
rightRectified = cv2.remap(frameRightNew, rightMapX, rightMapY, cv2.INTER_LINEAR);
disparity = stereo.compute(leftRectified, rightRectified)
cv2.filterSpeckles(disparity, 0, 6000, maximumDisparities);
cv2.imshow("Normalized Disparity", (disparity/16.0 - minimumDisparities)/maximumDisparities);
cv2.imshow("Left Camera", leftRectified)
cv2.imshow("Right Camera", rightRectified)
key = cv2.waitKey(10) # Give the frame some time
if key == 27:
break
print("Finished!")
if True:
marker_img = np.zeros(
roi_g_0.shape) # create black image for display
# draw circles
# cv2.circle(marker_img, (int(np.round(by0)), int(np.round(bx0))), 10, 255, 20)
cv2.circle(marker_img, (int(np.round(gy0)), int(np.round(gx0))),
30, 128, 40)
cv2.imshow('Markers', marker_img)
cv2.imshow('roi', roi_g_0)
"""-------------------------------------------------------------------------"""
"""Disparity map calculation"""
"""-------------------------------------------------------------------------"""
disparity_map = stereo_disparity.compute(img0_rm, img1_rm)
cv2.filterSpeckles(disparity_map, 0, 64, 32) #filter out noise
# cv2.filterSpeckles(disparity_map, 0, 512, 32)
# compute disparity image from undistorted and rectified versions
# (which for reasons best known to the OpenCV developers is returned scaled by 16)
# credit goes to Toby Breckon, Durham University, UK for sharing this caveat
# disparity_scaled = disparity_map
# set_trace()
disparity_scaled = (disparity_map / 16.).astype(np.float32) + abs(
disparity_map.min())
# set_trace()
displ = left_matcher.compute(img0, img1).astype(np.float32) / 16.
dispr = right_matcher.compute(img0, img1).astype(np.float32) / 16.
displ = np.int16(displ)
dispr = np.int16(dispr)
