OPENCV Computer Vision Learning notes Three

Fourth chapter depth Estimation and segmentation

1 Capture Depth camera frame

Depth graph grayscale Each pixel is a camera to the surface of the object from mm

Point cloud color Each color corresponds to one dimension space m

Disparity Map gray-scale each pixel represents the stereo parallax of the surface of the object near large and far small

Effective depth mask The depth information for a given pixel is valid

2 Mask from disparity map

#!/usr/bin/env python #-*-coding:utf-8-*-# @Time: 2016/12/1 10:16 # @Author: RETACN # @Site: Processing of depth camera data # @ File:depth.py # @Software: Pycharm __author__ = "RETACN" __copyright__ = "property of mankind." __license__ = "CN" __ version__ = "0.0.1" __maintainer__ = "RETACN" __email__ = "zhenhuayue@sina.com" __status__ = "Development"ImportNumPy asNP #设备 cap_openni=900 cap_openni_asus=910 #通道 (distance based on floating-point numbers) Cap_openni_depth_map=0 #会得到bgr图像 cap_openni_point_cloud_map=1 #XYZ cap_openni_disparity_map=2 # cap_openni_disparity_map_32f=3 cap_openni_valid_depth_mask=4 CAP_OPENNI_BGR_IMAGE =5 cap_openni_gray_image=6 #生成掩模def Createmedianmask(Disparitymap, #视差图 validdepthmask, #有效深度掩模 rect=None): #矩形ifRectAre not None: X,y,w,h=rect Disparitymap=disparitymap[y:y+h,x:x+w] validdepthmask=validdepthmask[y:y+h,x:x+w] #得到中值 Median=np.median (Disparitymap) #生成掩模, Boolean operations by Pixel returnNp.where ((validdepthmask==0) |
                    (ABS (Disparitymap-median) <12), #值为真假的数组, when effective parallax and mean Parallax >=12, as Noise 1.0, #为真时, the corresponding element of the array is the value 0.0) #为假时, for this value

3 Mask the copy operation

#!/usr/bin/env python #-*-coding:utf-8-*-# @Time: 2016/12/1 10:22 # @Author: RETACN # @Site: Rectangular area Copy # @File : rects.py # @Software: Pycharm __author__ = "RETACN" __copyright__ = "property of mankind." __license__ = "CN" __vers ion__ = "0.0.1" __maintainer__ = "RETACN" __email__ = "zhenhuayue@sina.com" __status__ = "Development"ImportCv2ImportNumPy asNp fromThreeImportUtils #对复制操作执行掩模def Copyrect(SRC, DST, srcrect, Dstrect, mask=None, #掩模参数, the mask wants to have the same channel number INTERPOLATION=CV2 as the image. Inter_linear): #插值方法为线性插值 x0,y0,w0,h0=srcrect x1,y1,w1,h1=dstrect #如果掩模为空, perform the copy operationifMaskis None: Dst[y1:y1+h1,x1:x1+w1]=cv2.resize (Src[y0:y0+h0,y0:y0+h0], #源图像 (W1,H1), #目标图像 interpolation=interpolation) #插值方法Else: #如果掩模为单通道, the Copy channelif notUtils.isgray (SRC):             mask=mask.repeat (3). Reshape (h0,w0,3)         Dst[y1:y1+h1,x1:x1+w1]=np.where (Cv2.resize (Mask, W1, H1), Interpolation=cv2. Inter_nearest),                                   
       cv2.resize (Src[y0:y0+h0,x0:x0+w0], (W1,H1), interpolation=interpolation),                                           dst[y1:y1 + h1, x1:x1 + W1]                                         ) #一组矩形的循环交换
 def swqprects(src,dst,rects,masks=None, Interpolation=cv2. Inter_linear):ifDst is notSRC:DST[:]=SRC Numrects=len (rects)ifNUMRECTS<2:return ifMasksis None: masks=[None]*numrects X,y,w,h=rects[numrects-1] Temp=src[y:y+h,x:x+w].copy () i=numrects-2 whileI>=0:copyrect (src,dst,rects[i],rects[i+1],masks[i],interpolation) i-=1 copyrect (TEMP,DST, 0,0,w,h) , rects[0],masks[numrects-1],interpolation)

4 using a normal camera for deep test evaluation

#!/usr/bin/env python #-*-coding:utf-8-*-# @Time: 2016/12/1 11:40 # @Author: RETACN # @Site: Deep-Test estimation using a common camera # @File: commoncamera2depth.py # @Software: Pycharm __author__ = "RETACN" __copyright__ = "property of mankind." __lic ense__ = "CN" __version__ = "0.0.1" __maintainer__ = "RETACN" __email__ = "zhenhuayue@sina.com" __status__ = "Development"ImportCv2ImportNumPy asNpdef update(val=0): Stereo.setblocksize (Cv2.gettrackbarpos (' window_size ', ' disparity ')) Stereo.setuniquenessratio ( Cv2.gettrackbarpos (' uniquenessratio ', ' disparity ')) stereo.setspecklewindowsize (Cv2.gettrackbarpos ('
    Specklewindowsize ', ' disparity ') stereo.setspecklerange (Cv2.gettrackbarpos (' specklerange ', ' disparity ')) Stereo.setdisp12maxdiff (Cv2.gettrackbarpos (' Disp12maxdiff ', ' disparity ')) print (' Computing disparity ... ') disp = St Ereo.compute (IMGL, Imgr). Astype (Np.float32)/16.0 cv2.imshow (' left ', IMGL) cv2.imshow (' disparity ', disp-min_di SP)/Num_disp)if__name__== ' __main__ ':     windows_size=5 #一个匹配块的大小, more than 1 odd     min_disp=16 #最小视差值      num_disp=192-min_disp #最大视差值和最小视差值的差     blocksize=windows_size     Uniquenessratio=1     specklerange=3 #每个已连接部分的最大视差变化     specklewindowsize=3 # Maximum window size for smooth parallax area     disp12maxdiff=200     p1=600 #控制视差图平滑度有第一个参数     p2= 2400# the second parameter, the greater the value the Parallax graph smoother     #读入图像     imgl=cv2.imread ('. /imgl.jpg ')     imgr=cv2.imread ('.. /imgr.jpg ')     cv2.namedwindow (' disparity ')     cv2.createtrackbar (' Specklerange ', ' Disparity ', specklerange,50,update)     cv2.createtrackbar (' window_size ', ' disparity ', windows_size,
21,update)     cv2.createtrackbar (' specklewindowsize ', ' disparity ', specklewindowsize,200,update)     cv2.createtrackbar (' uniquenessratio ', ' disparity ', uniquenessratio,50,update)     cv2.createtrackbar (' Disp12maxdiff ', ' disparity ', disp12maxdiff,250,update)     Stereo=cv2. Stereosgbm_create (Mindisparity=min_disp,                                    Numdisparities=num_disp,                                    Blocksize=blocksize,                                    Uniquenessratio=uniquenessratio,                                   Specklerange=specklerange,                                    specklewindowsize=specklewindowsize,                                    Disp12maxdiff=disp12maxdiff,                                    P1=p1,                                    p2=p2)     update ()     Cv2.waitkey ()

5 using watershed and Grabcut algorithms for object segmentation

A use brabcut for foreground detection

#!/usr/bin/env python
#-*-coding:utf-8-*-
# @Time: 2016/12/2 11:17 #
@Author: RETACN
# @Site : Use grubcut for foreground detection
# @File: grabcutnew.py
# @Software: pycharm
__author__ = "RETACN"
__copyright__ = "P Roperty of mankind. "
__license__ = "CN"
__version__ = "0.0.1"
__maintainer__ = "RETACN"
__email__ = "zhenhuayue@sina.com"