差异映射双镜头StereoSGBM OpenCV3 Python2.7

Question

1. 我无法校准双镜头相机以获得视差图。我附上了图片和源代码。我已经尝试了千种变量组合，这是我用这台相机完成的最好的。使用像Logitech C270这样的其他相机，我没有遇到这个问题。

2. 双镜头相机http：// i.stack.imgur.com/qKDz2.jpg 查看http://i.stack.imgur.com/P1cYq.jpg 差异地图结果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！