在opencv中使用viz实现立体相机点云

import cv2
from cv2 import viz

left_image = cv2.imread('left_image.png')
right_image = cv2.imread('right_image.png')

stereo = cv2.StereoBM_create(numDisparities=16, blockSize=15)
disparity = stereo.compute(left_image, right_image)

points = cv2.reprojectImageTo3D(disparity, Q)

_, _, _, _, _, _, Q, _ = cv2.stereoRectify(left_camera_matrix, left_distortion_coeffs, right_camera_matrix, right_distortion_coeffs, image_size, R, T)

window = viz.Viz3d('Point Cloud')
cloud = viz.PointCloud()
cloud.set_cloud(points, colors)
window.showWidget('cloud', cloud)
window.spin()