opencv双目测量物体尺寸的代码

以下是使用OpenCV进行双目测量物体尺寸的示例代码。请注意，此代码需要两个已校准的相机和已知的摄像机内部参数和外部参数。

import cv2
import numpy as np

# Load camera parameters
camera_params = np.load('camera_params.npz')
mtx_left = camera_params['mtx_left']
dist_left = camera_params['dist_left']
mtx_right = camera_params['mtx_right']
dist_right = camera_params['dist_right']
R = camera_params['R']
T = camera_params['T']

# Load images
img_left = cv2.imread('left.jpg')
img_right = cv2.imread('right.jpg')

# Undistort images
img_left_undist = cv2.undistort(img_left, mtx_left, dist_left)
img_right_undist = cv2.undistort(img_right, mtx_right, dist_right)

# Rectify images
R1, R2, P1, P2, Q, roi_left, roi_right = cv2.stereoRectify(mtx_left, dist_left, mtx_right, dist_right, img_left.shape[:2], R, T)
map1_left, map2_left = cv2.initUndistortRectifyMap(mtx_left, dist_left, R1, P1, img_left.shape[:2], cv2.CV_32FC1)
map1_right, map2_right = cv2.initUndistortRectifyMap(mtx_right, dist_right, R2, P2, img_right.shape[:2], cv2.CV_32FC1)
img_left_rect = cv2.remap(img_left_undist, map1_left, map2_left, cv2.INTER_LINEAR)
img_right_rect = cv2.remap(img_right_undist, map1_right, map2_right, cv2.INTER_LINEAR)

# Compute disparity
stereo = cv2.StereoBM_create(numDisparities=16, blockSize=15)
disparity = stereo.compute(img_left_rect, img_right_rect)

# Compute depth
depth = cv2.reprojectImageTo3D(disparity, Q)

# Compute object size
x, y, z = depth[400, 400]
object_size = np.sqrt(x**2 + y**2 + z**2)

# Display results
cv2.imshow('Left image', img_left)
cv2.imshow('Right image', img_right)
cv2.imshow('Disparity', disparity)
cv2.imshow('Depth', depth)
cv2.waitKey(0)
cv2.destroyAllWindows()

请注意，此代码假定左右图像对齐并裁剪以匹配其视野。如果图像未对齐，请在rectify函数中使用输出的新摄像机矩阵（P1和P2）中的ROI来裁剪图像。您还可以调整numDisparities和blockSize参数，以提高深度估计的准确性。