Greenhouse crop digital-imaging method based on ARM and binocular vision

The invention relates to a greenhouse crop digital-imaging method based on ARM and binocular vision. The greenhouse crop digital-imaging method includes steps of S1, calibrating a binocular video camera via a checkerboard calibration method, acquiring left-right images of greenhouse crops by the binocular video camera; S2, correcting the left-right images of the greenhouse crops of the step S1 stereoscopically by the ARM embedded platform and then matching by the improved self-adaptive weight stereoscopic matching algorithm to obtain an initial disparity map, and optimizing disparity of the initial disparity image to obtain a complete disparity map; S3, acquiring a three-dimensional point cloud of the greenhouse crops by means of the triangle ranging theory by an upper computer according to the complete disparity map of the step S2, and rendering the three-dimensional point cloud according to the left-right images of the greenhouse crops of the step S2 and displaying and storing. Compared with the prior art, the greenhouse crop digital-imaging method has the advantages that real-time three-dimensional point cloud information of the greenhouse crops can be obtained, so as to reflect growth conditions and provide control reference based on vision for automatically controlling the greenhouse environment, data accuracy is high, cost is low and the like.