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  1. 我无法校准双镜头相机以获取视差图。我附上了图片和源代码。我已经尝试了上千种变量组合，这是我用这台相机完成的最好的一次。使用其他相机，如罗技 C270，我没有遇到过这个问题。

  2. 双镜头相机 http://i.stack.imgur.com/qKDz2.jpg 查看http://i.stack.imgur.com/P1cYq.jpg视差 图结果http://i.stack.imgur.com/l1GoC .png

    import numpy as np
import cv2

l_camera = cv2.VideoCapture(2)
r_camera = cv2.VideoCapture(0)

# create windows
cv2.namedWindow('left_Webcam', cv2.WINDOW_NORMAL)
cv2.namedWindow('right_Webcam', cv2.WINDOW_NORMAL)
cv2.namedWindow('disparity', cv2.WINDOW_NORMAL)

blockSize = 40

while(cv2.waitKey(1) & 0xFF != ord('q')):
   ret1, left_frame = l_camera.read()
   ret2, right_frame = r_camera.read()

   #our operations on the frame come here
   gray_left = cv2.cvtColor(left_frame, cv2.COLOR_BGR2GRAY)
   gray_right = cv2.cvtColor(right_frame, cv2.COLOR_BGR2GRAY)
   cv2.imshow('left_Webcam', gray_left)
   cv2.imshow('right_Webcam', gray_right)
   stereo = cv2.StereoSGBM_create(minDisparity=1,
       numDisparities=16,
       blockSize=15,
       uniquenessRatio = 10,
       speckleWindowSize = 10,
       speckleRange = 32,
       disp12MaxDiff = 1,
       P1 = 8*3*blockSize**2,
       P2 = 32*3*blockSize**2
    )
    disparity = stereo.compute(gray_left, gray_right)
    disparity = cv2.normalize(disparity, disparity, alpha=0, beta=255,norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
    cv2.imshow('disparity', disparity)

# When everything done, release the capture
l_camera.release()
r_camera.release()
cv2.destroyAllWindows()

谢谢！

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