def __init__(self, yolo_dir, mode=0):
#darknet.set_gpu(gpu_num)
self.metaMain = None
self.netMain = None
altNames = None
configPath = None
weightPath = None
# Use tiny yolov3
if(mode == 0):
configPath = os.path.join(yolo_dir, "cfg/tiny-yolo.cfg")
weightPath = os.path.join(yolo_dir, "yolov3-tiny.weights")
# Use yolov3
elif(mode == 1):
configPath = os.path.join(yolo_dir, "cfg/yolov3.cfg")
weightPath = os.path.join(yolo_dir, "yolov3.weights")
metaPath = os.path.join(yolo_dir, "cfg/coco.data")
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath)+"`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath)+"`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath)+"`")
if self.netMain is None:
self.netMain = darknet.load_net_custom(configPath.encode(
"ascii"), weightPath.encode("ascii"), 0, 1) # batch size = 1
if self.metaMain is None:
self.metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError as e:
print(e)
pass
except Exception as e:
print(e)
pass
self.darknet_image = darknet.make_image(darknet.network_width(self.netMain),
darknet.network_height(self.netMain),3)
def _initialize_darknet(self):
# Setup paths
inputDir = os.path.join(
os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
"input")
configPath = os.path.join(inputDir, "yolov3.cfg")
weightPath = os.path.join(
inputDir,
"card.weights") # Don't change this - change the file name instead
metaPath = os.path.join(inputDir, "obj.data")
setupObjPaths(metaPath, os.path.join(inputDir, "obj.names"))
if not os.path.exists(weightPath):
print(f"Couldn't find weights path '{weightPath}'")
sys.exit(101)
self._darknet_netMain = darknet.load_net_custom(
configPath.encode("ascii"), weightPath.encode("ascii"), 0,
1) # batch size = 1
self._darknet_metaMain = darknet.load_meta(metaPath.encode("ascii"))
print("Finished loading")
# Not sure what is going on here?
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError as e:
print(e)
sys.exit(1337)
except Exception as e:
print(e)
sys.exit(1337)
self._darknet_resolution = (darknet.network_width(
self._darknet_netMain),
darknet.network_height(
self._darknet_netMain))
self._darknet_image = darknet.make_image(self._darknet_resolution[0],
self._darknet_resolution[1],
3)
def setup(self, netMain=None, metaMain=None, altNames=None):
# Load the model
if netMain is None:
self.netMain = darknet.load_net_custom(
self.configPath.encode('ascii'),
self.weightPath.encode('ascii'), 0, 1) # batch size = 1
else:
self.netMain = netMain
if metaMain is None:
self.metaMain = darknet.load_meta(self.metaPath.encode('ascii'))
else:
self.metaMain = metaMain
if altNames is None:
try:
with open(self.metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search('names *= *(.*)$', metaContents,
re.IGNORECASE | re.MULTILINE)
if match: result = match.group(1)
else: result = None
try:
if osp.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split('\n')
self.altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
else:
self.altNames = altNames
# Create an image we reuse for each detect
self.darknet_image = darknet.make_image(
darknet.network_width(self.netMain),
darknet.network_height(self.netMain), 3)
# Performance logging
self.count = 0
self.total = 0
import sys, os
sys.path.append('../../darknet')
import darknet.darknet as dn
from server import app, is_authenticated
from flask import request, render_template
# load YOLOv4 model
MODEL_CFG = 'darknet/custom5-512.cfg'
MODEL_WEIGHTS = 'darknet/custom5-512.weights'
MODEL_DATA = 'darknet/custom5-512.data'
net = dn.load_net_custom(str.encode(MODEL_CFG), str.encode(MODEL_WEIGHTS), 0,
1)
meta = dn.load_meta(str.encode(MODEL_DATA))
# start Flask Server
from flask import Flask, jsonify, request, render_template
from werkzeug.utils import secure_filename
from flask_cors import CORS
import uuid
from PIL import Image
ALLOWED_EXTENSIONS = {'png', 'jpg'}
#utils
def allowed_file(filename):
return '.' in filename and filename.rsplit(
'.', 1)[1].lower() in ALLOWED_EXTENSIONS
def YOLO():
global metaMain, netMain, altNames
configPath = "requirements/yolov3_custom.cfg"
weightPath = "weights/yolov3_custom_last.weights"
metaPath = "requirements/detector.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath) + "`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath) + "`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath) + "`")
if netMain is None:
netMain = darknet.load_net_custom(configPath.encode("ascii"),
weightPath.encode("ascii"), 0,
1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
#cap = cv2.VideoCapture(0)
videopath = argv[1]
if os.path.exists(videopath):
name = videopath.split('/')[-1].split('.')[0]
cap = cv2.VideoCapture(videopath)
else:
print("Incorrect path to video")
return
cap.set(3, 1280)
cap.set(4, 720)
out = cv2.VideoWriter(
"detections/" + name + "_output.avi", cv2.VideoWriter_fourcc(*"MJPG"),
10.0,
(darknet.network_width(netMain), darknet.network_height(netMain)))
print("Starting the YOLO loop...")
# Create an image we reuse for each detect
darknet_image = darknet.make_image(darknet.network_width(netMain),
darknet.network_height(netMain), 3)
while True:
prev_time = time.time()
ret, frame_read = cap.read()
frame_rgb = cv2.cvtColor(frame_read, cv2.COLOR_BGR2RGB)
frame_resized = cv2.resize(
frame_rgb,
(darknet.network_width(netMain), darknet.network_height(netMain)),
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image, frame_resized.tobytes())
detections = darknet.detect_image(netMain,
metaMain,
darknet_image,
thresh=0.1)
image = cvDrawBoxes(detections, frame_resized)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
print(1 / (time.time() - prev_time))
cap.release()
out.release()
def YOLO():
global metaMain, netMain, altNames
configPath = "Configuration/yolov4_obj.cfg"
weightPath = "Weights/yolov4_obj_final.weights"
metaPath = "Configuration/detector.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath) + "`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath) + "`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath) + "`")
if netMain is None:
netMain = darknet.load_net_custom(configPath.encode("ascii"),
weightPath.encode("ascii"), 0,
1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
#cap = cv2.VideoCapture(0)
imagepath = argv[1]
if os.path.exists(imagepath):
name = imagepath.split('/')[-1].split('.')[0]
frame_read = cv2.imread(imagepath)
else:
print("Incorrect path to image")
return
print("Starting the YOLO loop...")
inputshape = (darknet.network_width(netMain),
darknet.network_height(netMain))
darknet_image = darknet.make_image(inputshape[0], inputshape[1], 3)
prev_time = time.time()
frame_rgb = cv2.cvtColor(frame_read, cv2.COLOR_BGR2RGB)
frame_resized = cv2.resize(frame_rgb,
inputshape,
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image, frame_resized.tobytes())
detections = darknet.detect_image(netMain,
metaMain,
darknet_image,
thresh=0.2)
image = cvDrawBoxes(detections, frame_rgb, inputshape)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
print("FPS : ", end='')
print(1.0 / (time.time() - prev_time))
cv2.imwrite(name + "_output.jpg", image)
configPath = "./darknet/cfg/obj.cfg"
weightPath = "./darknet/obj_last_yolov3.weights"
metaPath = "./darknet/cfg/obj.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" + os.path.abspath(configPath) +
"`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" + os.path.abspath(weightPath) +
"`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" + os.path.abspath(metaPath) +
"`")
if netMain is None:
netMain = darknet.load_net_custom(configPath.encode("utf-8"),
weightPath.encode("utf-8"), 0,
1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
def main():
global metaMain, netMain, altNames
configPath = "darknet/cfg/yolov3-seabird.cfg"
weightPath = "darknet/backup_608/yolov3-seabird_final.weights"
metaPath = "darknet/cfg/seabird.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath)+"`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath)+"`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath)+"`")
if netMain is None:
netMain = darknet.load_net_custom(configPath.encode(
"ascii"), weightPath.encode("ascii"), 0, 1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
# Definition of the parameters
max_cosine_distance = 0.3
max_euclidean_distance = 150.0
nn_budget = None
nms_max_overlap = 1
# deep_sort
metric = nn_matching.NearestNeighborDistanceMetric("euclidean", max_euclidean_distance, nn_budget)
#metric = nn_matching.NearestNeighborDistanceMetric("cosine", max_cosine_distance, nn_budget)
tracker = Tracker(metric)
writeVideo_flag = False
#video_capture = cv2.VideoCapture('/data/Farallon3_20190706_000001_No001.avi')
#video_capture = cv2.VideoCapture('/data/15_fps/Farallon3_20190620_021546_No001.mp4')
video_capture = cv2.VideoCapture('/data/15_fps/Farallon3_20190621_090300_No004.mp4')
#video_capture = cv2.VideoCapture('/data/rows_data/15_fps/Farallon3_20190603_155007_No001.avi')
video_fps = video_capture.get(cv2.CAP_PROP_FPS)
#video_fps = 25
list_file = open('events.csv', 'w')
track_log_file = open('track_log.csv', 'w')
wr = csv.writer(list_file, dialect='excel')
wr_tracklog = csv.writer(track_log_file, dialect='excel')
if writeVideo_flag:
# Define the codec and create VideoWriter object
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'MJPG')
out = cv2.VideoWriter('1.avi', fourcc, 15, (w, h))
zone = cv2.imread('mask/test_zone.png', -1)
# Create an image we reuse for each detect
darknet_image = darknet.make_image(darknet.network_width(netMain),
darknet.network_height(netMain),3)
fps = 0.0
frame_index = -1
mask = cv2.imread('mask/mask_new.jpg')
mask = np.uint8(mask/255)
##############################################
#points = [(130,102),(535,370),(808,345),(1570,391),(1494,808),(373,817),(4,496),(1,276)]
#points = [(4,22),(121,96),(207,99),(537,366),(819,324),(1564,385),(1764,322),(1648,889),(105,915),(3,762)]
points = [(2,24),(127,24),(579,321),(1746,336),(1674,878),(1912,957),(1926,1081),(2,1074)]
zone_polygon = Polygon(points)
text_count_size = 9e-3 * 200
text_count_x,text_count_y = 550, 1000
avg_area_box_all_frames = 0
time_stamp = datetime(2019, 6, 21, 10, 33, 5)
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if ret != True:
break
frame_index = frame_index +1
t1 = time.time()
write = 0
if frame_index % 15 == 0:
write = 1
draw_frame = frame
frame = np.multiply(frame, mask)
# image = Image.fromarray(frame)
#image = Image.fromarray(frame[...,::-1]) #bgr to rgb
frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
frame_resized = cv2.resize(frame_rgb,
(darknet.network_width(netMain),
darknet.network_height(netMain)),
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image,frame_resized.tobytes())
detections = darknet.detect_image(netMain, metaMain, darknet_image, thresh=0.5)
boxs, class_ids=convert(detections, dw, dh)
# score to 1.0 here).
dets = [Detection(bbox, 1.0, class_id) for bbox,class_id in zip(boxs, class_ids)]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in dets])
scores = np.array([d.confidence for d in dets])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap, scores)
detections_tracker = [dets[i] for i in indices]
ids = [class_ids[i] for i in indices]
time_lapsed_sec = frame_index / video_fps
time_stamp_now = time_stamp + timedelta(seconds=time_lapsed_sec)
# Call the tracker
tracker.predict()
tracker.update(detections_tracker, ids, time_stamp_now)
tracker.update_events(draw_frame, time_stamp_now, wr, wr_tracklog, write )
avg_area_box = 0
for det in detections:
name , x, y, w, h = det[0],det[2][0],det[2][1],det[2][2],det[2][3]
class_id = altNames.index(name.decode("utf-8") )
bbox = [(x-w/2)*dw,(y-h/2)*dh,(x+w/2)*dw,(y+h/2)*dh]
area_box = w*h*dw*dh
if area_box > 3*avg_area_box_all_frames:
cv2.rectangle(draw_frame,(int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])),(255,255,255), 3)
cv2.putText(draw_frame,"Flapping detected !!!!",(text_count_x,text_count_y),4,text_count_size, (255,0,0),4)
avg_area_box = avg_area_box + area_box
cv2.rectangle(draw_frame,(int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])),get_rgb(class_id,3), 2)
avg_area_box = avg_area_box/len(detections)
avg_area_box_all_frames=avg_area_box
if writeVideo_flag:
# save a frame
out.write(draw_frame)
fps = ( fps + (1./(time.time()-t1)) ) / 2
print("fps= %f"%(fps))
video_capture.release()
if writeVideo_flag:
out.release()
list_file.close()
cv2.destroyAllWindows()
def YOLO():
#os.chdir("./darknet")
#os.system("pwd")
#print('dir changed!')
from darknet import darknet
print("Imported")
#================================================================
base_dir = get_base_dir()
image_list = read_image()
#=================================================================#
# Read parking regions file
parked_cars = read_regions()
#================================================================
global metaMain, netMain, altNames
configPath = "./darknet/cfg/yolov4.cfg"
weightPath = "./darknet/yolov4.weights"
metaPath = "./darknet/cfg/coco.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath) + "`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath) + "`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath) + "`")
if netMain is None:
netMain = darknet.load_net_custom(configPath.encode("ascii"),
weightPath.encode("ascii"), 0,
1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
# i = 0
# while True:
for i in range(len(image_list)):
image = cv2.imread(image_list[i])
width = image.shape[1]
height = image.shape[0]
# Create an image we reuse for each detect
darknet_image = darknet.make_image(width, height, 3)
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
image_rgb = cv2.resize(image_rgb, (width, height),
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image, image_rgb.tobytes())
detections = darknet.detect_image(netMain,
metaMain,
darknet_image,
thresh=0.25)
# Print detections
# image = cvDrawBoxesonCars(detections, image_rgb)
# image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
# Draw occupied parking spaces
image, parked_cars_updated = cvOverlapcheck(parked_cars, detections,
image_rgb)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
from cv2 import imwrite
file2 = os.path.join(base_dir +
'/Api/templates/static/images/new_output.jpg')
imwrite(file2, image)
print("Image saved!")
# cv2.imshow('Output', image)
cv2.waitKey(0)
# i += 1
cv2.destroyAllWindows()
#================================================================
# Save the file with occupancy
post_process(parked_cars_updated)
def YOLO():
global metaMain, netMain, altNames
configPath = "Configuration/yolov4_obj.cfg"
weightPath = "Weights/yolov4_obj_final.weights"
metaPath = "Configuration/detector.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath) + "`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath) + "`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath) + "`")
if netMain is None:
netMain = darknet.load_net_custom(configPath.encode("ascii"),
weightPath.encode("ascii"), 0,
1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
videopath = argv[1]
if os.path.exists(videopath):
name = videopath.split('/')[-1].split('.')[0]
cap = cv2.VideoCapture(videopath)
else:
print("Incorrect path to video")
return
cap = cv2.VideoCapture(videopath)
fps = cap.get(cv2.CAP_PROP_FPS)
print(fps)
cap.set(3, 1280)
cap.set(4, 720)
ret, frame_read = cap.read()
out = cv2.VideoWriter(name + "_output.avi",
cv2.VideoWriter_fourcc(*"MJPG"), fps,
(frame_read.shape[1], frame_read.shape[0]))
print("Starting the YOLO loop...")
inputshape = (darknet.network_width(netMain),
darknet.network_height(netMain))
# Create an image we reuse for each detect
darknet_image = darknet.make_image(inputshape[0], inputshape[1], 3)
start = time.time()
cnt = 1
while ret:
cnt += 1
prev_time = time.time()
if ret:
frame_rgb = cv2.cvtColor(frame_read, cv2.COLOR_BGR2RGB)
frame_resized = cv2.resize(frame_rgb,
inputshape,
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image,
frame_resized.tobytes())
detections = darknet.detect_image(netMain,
metaMain,
darknet_image,
thresh=0.25)
image = cvDrawBoxes(detections, frame_rgb, inputshape)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
print(1 / (time.time() - prev_time))
out.write(image)
ret, frame_read = cap.read()
# cv2.imshow('Demo', image) #uncomment if running on local machine
# cv2.waitKey(3) #uncomment if running on local machine
print()
print("Average FPS : ", end='')
print(cnt * 1.0 / (time.time() - start))
cap.release()
out.release()
str(round(detection[1] * 100, 2)) + "]", (pt1[0], pt1[1] - 5),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, [0, 255, 0], 2)
return img
netMain = None
metaMain = None
altNames = None
# YOLO parameters
config = "cfg/igvc-yolov3.cfg"
weights = "igvc-yolov3_6000.weights"
names = "data/igvc.names"
netMain = darknet.load_net_custom(config.encode("ascii"),
weights.encode("ascii"), 0,
1) # batch size = 1
#metaMain = darknet.load_meta(data.encode("ascii"))
altNames = [x.strip() for x in open(names, 'r').readlines()]
def get_distance(depth_val):
'''
Old get_distance function.
'''
return 250.477 * depth_val**(-1.1504)
# Create stereo matcher
window_size = 17
left_matcher = cv2.StereoSGBM_create(