356 lines
14 KiB
Python
356 lines
14 KiB
Python
import argparse
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import os
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import numpy as np
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import cv2
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from surround_view import CaptureThread, MultiBufferManager
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import surround_view.utils as utils
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import re
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# 保存相机参数文件的目录
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TARGET_DIR = os.path.join(os.getcwd(), "yaml")
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# 默认参数文件路径
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DEFAULT_PARAM_FILE = os.path.join(TARGET_DIR, "camera_params.yaml")
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def is_rtsp_url(input_str):
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"""检查输入是否为RTSP URL"""
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return input_str.startswith('rtsp://')
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def main():
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parser = argparse.ArgumentParser()
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# 输入视频流（可以是相机设备索引或RTSP URL）
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parser.add_argument("-i", "--input", type=str, default="0",
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help="输入相机设备索引或RTSP URL")
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# 棋盘格图案尺寸
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parser.add_argument("-grid", "--grid", default="9x6",
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help="标定棋盘格的尺寸")
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parser.add_argument("-r", "--resolution", default="640x480",
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help="相机图像的分辨率")
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parser.add_argument("-framestep", type=int, default=20,
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help="视频中每隔n帧使用一次")
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parser.add_argument("-o", "--output", default=DEFAULT_PARAM_FILE,
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help="输出yaml文件的路径")
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parser.add_argument("-fisheye", "--fisheye", action="store_true",
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help="如果是鱼眼相机则设置为true")
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parser.add_argument("-flip", "--flip", default=0, type=int,
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help="相机的翻转方式")
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parser.add_argument("--no_gst", action="store_true",
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help="如果不使用gstreamer捕获相机则设置为true")
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args = parser.parse_args()
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if not os.path.exists(TARGET_DIR):
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os.mkdir(TARGET_DIR)
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text1 = "按c键进行标定"
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text2 = "按q键退出"
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text3 = "设备: {}".format(args.input)
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font = cv2.FONT_HERSHEY_SIMPLEX
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fontscale = 0.6
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resolution_str = args.resolution.split("x")
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target_W = int(resolution_str[0])
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target_H = int(resolution_str[1])
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grid_size = tuple(int(x) for x in args.grid.split("x"))
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grid_points = np.zeros((1, np.prod(grid_size), 3), np.float32)
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grid_points[0, :, :2] = np.indices(grid_size).T.reshape(-1, 2)
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objpoints = [] # 真实世界中的3D点
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imgpoints = [] # 图像平面中的2D点
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# 检查输入是RTSP URL还是设备索引
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if is_rtsp_url(args.input):
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rtsp_url = args.input
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# 初始化VideoCapture（强制使用FFmpeg后端）
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cap = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG)
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# 配置H.265解码参数（关键修改）
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try:
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# 基础参数：使用TCP传输避免丢包
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "rtsp_transport", "tcp")
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# 明确指定H.265编码（hevc是H.265的标准编码名）
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "vcodec", "hevc")
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# 低延迟配置
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "flags", "low_delay")
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "fflags", "nobuffer")
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# 设置缓冲区大小为1，减少延迟
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cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
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# 设置超时参数，避免无限等待
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "stimeout", "5000000") # 5秒超时
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except Exception as e:
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print(f"警告: 设置FFmpeg参数时出错: {e}")
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# 第一次连接失败：尝试简化参数（仅保留必要参数）
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if not cap.isOpened():
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print("首次RTSP连接失败，尝试简化参数...")
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cap.release()
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cap = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG)
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try:
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# 仅保留最关键的TCP传输参数
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "rtsp_transport", "tcp")
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cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "stimeout", "5000000")
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except Exception as e:
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print(f"简化参数设置失败: {e}")
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# 最终检查连接状态
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if not cap.isOpened():
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print(f"无法打开RTSP流: {rtsp_url}")
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print("可能的原因: 1. FFmpeg不支持H.265; 2. 相机认证失败; 3. 网络连接问题")
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return
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# 获取流的实际分辨率
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actual_W = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
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actual_H = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
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W, H = actual_W, actual_H
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print(f"检测到RTSP流分辨率: {W}x{H}")
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# 尝试设置目标分辨率（RTSP流可能不支持修改分辨率）
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if actual_W != target_W or actual_H != target_H:
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print(f"尝试将分辨率设置为 {target_W}x{target_H}...")
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, target_W)
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, target_H)
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# 验证是否设置成功
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new_W = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
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new_H = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
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if new_W != target_W or new_H != target_H:
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print(f"无法设置分辨率（RTSP流可能为固定分辨率），使用 {new_W}x{new_H}")
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W, H = new_W, new_H
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use_rtsp = True
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else:
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# 处理本地相机设备
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device = int(args.input)
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cap_thread = CaptureThread(device_id=device,
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flip_method=args.flip,
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resolution=(target_W, target_H),
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use_gst=not args.no_gst,
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)
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buffer_manager = MultiBufferManager()
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buffer_manager.bind_thread(cap_thread, buffer_size=8)
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if cap_thread.connect_camera():
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cap_thread.start()
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use_rtsp = False
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W, H = target_W, target_H
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else:
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print("无法打开本地相机设备")
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return
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quit = False
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do_calib = False
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i = -1
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print("\n开始标定过程...")
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print("按'c'键开始标定（需要≥12个有效的棋盘格帧）")
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print("按'q'键退出")
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# 创建可调整大小的窗口
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cv2.namedWindow("corners", cv2.WINDOW_NORMAL)
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while True:
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i += 1
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# 根据输入类型读取帧
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if use_rtsp:
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ret, img = cap.read()
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if not ret:
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print("读取RTSP帧失败，重试...")
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# 帧读取失败时重试连接
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cap.release()
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cap = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG)
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# 重新设置关键参数
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try:
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "rtsp_transport", "tcp")
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "vcodec", "hevc")
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cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
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except:
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pass
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continue
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else:
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img = buffer_manager.get_device(device).get().image
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if img is None:
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print("读取本地相机帧失败")
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break
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# 每隔N帧处理一次
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if i % args.framestep != 0:
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continue
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print(f"在第{i}帧中搜索棋盘格角点...")
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gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
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# 检测棋盘格角点（增强鲁棒性参数）
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found, corners = cv2.findChessboardCorners(
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gray,
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grid_size,
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cv2.CALIB_CB_ADAPTIVE_THRESH +
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cv2.CALIB_CB_NORMALIZE_IMAGE +
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cv2.CALIB_CB_FILTER_QUADS +
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cv2.CALIB_CB_FAST_CHECK # 快速校验，减少误检
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)
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if found:
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# 亚像素级角点优化
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term = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.01)
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cv2.cornerSubPix(gray, corners, (5, 5), (-1, -1), term)
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print("✓ 检测到角点")
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imgpoints.append(corners)
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objpoints.append(grid_points)
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# 绘制角点到图像
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cv2.drawChessboardCorners(img, grid_size, corners, found)
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else:
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print("✗ 未找到角点")
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# 绘制状态文本
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cv2.putText(img, text1, (20, 70), font, fontscale, (255, 200, 0), 2)
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cv2.putText(img, text2, (20, 110), font, fontscale, (255, 200, 0), 2)
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cv2.putText(img, text3, (20, 30), font, fontscale, (255, 200, 0), 2)
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cv2.putText(img, f"分辨率: {img.shape[1]}x{img.shape[0]} | 有效帧数: {len(objpoints)}",
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(20, 150), font, fontscale, (255, 200, 0), 2)
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# 自动缩放过大图像
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max_display_width = 1280
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max_display_height = 720
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scale = min(max_display_width / img.shape[1], max_display_height / img.shape[0])
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if scale < 1:
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img = cv2.resize(img, (int(img.shape[1] * scale), int(img.shape[0] * scale)))
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cv2.imshow("corners", img)
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key = cv2.waitKey(1) & 0xFF
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if key == ord("c"):
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print("\n=== 开始标定 ===")
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N_OK = len(objpoints)
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if N_OK < 12:
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print(f"错误: 只有{N_OK}个有效帧（需要≥12个）。继续采集...")
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else:
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do_calib = True
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break
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elif key == ord("q"):
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quit = True
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break
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# 资源清理
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if use_rtsp:
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cap.release()
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else:
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cap_thread.stop()
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cap_thread.disconnect_camera()
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cv2.destroyAllWindows()
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if quit:
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print("用户退出程序")
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return
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if do_calib:
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N_OK = len(objpoints)
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K = np.zeros((3, 3)) # 相机内参矩阵
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D = np.zeros((4, 1)) # 畸变系数
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rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for _ in range(N_OK)] # 旋转向量
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tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for _ in range(N_OK)] # 平移向量
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# 鱼眼标定 flags
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calibration_flags = (cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC +
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# cv2.fisheye.CALIB_CHECK_COND +
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cv2.fisheye.CALIB_FIX_SKEW)
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if args.fisheye:
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# 鱼眼相机标定
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ret, mtx, dist, rvecs, tvecs = cv2.fisheye.calibrate(
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objpoints,
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imgpoints,
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(W, H),
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K,
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D,
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rvecs,
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tvecs,
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calibration_flags,
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(cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
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)
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else:
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# 普通相机标定
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ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
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objpoints,
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imgpoints,
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(W, H),
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None,
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None)
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if ret:
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# 保存标定结果到YAML文件
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fs = cv2.FileStorage(args.output, cv2.FILE_STORAGE_WRITE)
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fs.write("resolution", np.int32([W, H]))
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fs.write("camera_matrix", K)
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fs.write("dist_coeffs", D)
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fs.release()
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print(f"✓ 标定成功!")
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print(f" 保存至: {args.output}")
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print(f" 使用的有效帧数: {N_OK}")
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# 显示标定结果
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print("\n=== 标定结果 ===")
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print("相机内参矩阵 (K):")
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print(np.round(K, 4))
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print("\n畸变系数 (D):")
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print(np.round(D.T, 6))
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# 展示畸变校正前后对比
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print("\n显示原始图像与校正后图像（5秒）...")
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if use_rtsp:
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# 重新打开RTSP流获取测试帧
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cap = cv2.VideoCapture(rtsp_url, cv2.CAP_FFMPEG)
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try:
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "rtsp_transport", "tcp")
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cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "vcodec", "hevc")
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cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
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except:
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pass
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ret, test_img = cap.read()
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cap.release()
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else:
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# 从本地相机获取测试帧
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test_img = buffer_manager.get_device(device).get().image
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if test_img is not None:
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if args.fisheye:
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# 鱼眼图像校正
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map1, map2 = cv2.fisheye.initUndistortRectifyMap(
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K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)
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undistorted = cv2.remap(test_img, map1, map2,
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interpolation=cv2.INTER_LINEAR,
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borderMode=cv2.BORDER_CONSTANT)
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else:
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# 普通图像校正
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undistorted = cv2.undistort(test_img, K, D)
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# 拼接对比图并显示
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comparison = np.hstack((test_img, undistorted))
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cv2.putText(comparison, "原始图像(左) vs 校正后图像(右)",
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(10, 30), font, 0.7, (0, 255, 0), 2)
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# 缩放对比图适配屏幕
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scale = min(max_display_width / comparison.shape[1], max_display_height / comparison.shape[0])
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if scale < 1:
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comparison = cv2.resize(comparison,
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(int(comparison.shape[1] * scale),
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int(comparison.shape[0] * scale)))
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cv2.imshow("标定结果: 原始图像 vs 校正后图像", comparison)
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cv2.waitKey(5000) # 显示5秒
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cv2.destroyAllWindows()
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else:
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print("✗ 标定失败! (检查棋盘格检测或帧质量)")
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if __name__ == "__main__":
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main() |