抗畸变预览

saveimg.py

@@ -1,16 +1,34 @@
+# 相机参考工具
+# @路怀帅 2025.12.19 10:32am 
+# PS : 新增 加载相机畸变KD 视频对比显示功能
+
 import cv2
 import threading
 import sys
 from datetime import datetime
 import os
+import argparse
+import numpy as np
 
 # 全局变量
 frame = None
 running = True
+which_camera = 0
+
+
+# 加载鱼眼相机参数
+K = np.array([[5.3402108990030604e+02, 0., 9.2598444295282172e+02], 
+              [0., 5.3455325152709827e+02, 5.7771767919091610e+02],
+              [0., 0., 1.]])
+D = np.array([-1.8724887233075402e-02, 6.4408558584901701e-03,
+              -5.2069636709412993e-03, 8.4815411645490968e-04])
+W, H = 1920, 1080
+
+
 
 def video_thread():
     global frame, running
-    cap = cv2.VideoCapture(1, cv2.CAP_ANY)
+    cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY)
     cap.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*"YUYV"))
     cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
     cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
@@ -20,19 +38,33 @@ def video_thread():
         print("[ERROR] Cannot open camera", file=sys.stderr)
         running = False
         return
+    # 鱼眼相机去畸变
+    map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)
 
     while running:
         ret, f = cap.read()
         if not ret:
             break
-        frame = f.copy()
-        # print(frame.shape)
-        # frame = cv2.resize(frame, (1280, 720))
-        # print(frame.shape)
-        cv2.namedWindow('AHD Video', cv2.WND_PROP_FULLSCREEN)
-        cv2.setWindowProperty('AHD Video', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
-        cv2.imshow('AHD Video', f)
-        # cv2.showFullscreen('Live Feed (Local Display)', f)
+
+        # 图像去畸变
+        undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
+        # 拼接原视频和抗畸变后的视频 （左右显示）
+        comparison = np.hstack((f, undistorted))
+
+        scale = min(1920 / comparison.shape[1], 1080 / comparison.shape[0])
+        if scale < 1:
+            comparison = cv2.resize(comparison, (int(comparison.shape[1] * scale), int(comparison.shape[0] * scale)))
+        comparison = comparison.astype(np.uint8) 
+
+        # 设置视频流全屏显示
+        text_info = f"Camera: {args.i.upper()}  |  Press 'q' to quit, 's' to screenshot"
+        cv2.putText(comparison, text_info, (10, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA)
+
+        cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN)
+        cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
+        cv2.imshow('Video old vs new', comparison)
+
         if cv2.waitKey(1) & 0xFF == ord('q'):
             running = False
             break
@@ -62,6 +94,30 @@ def input_thread():
             break
 
 if __name__ == "__main__":
+
+    # 获取用户参数启动
+    parser = argparse.ArgumentParser(description="Example script with argparse")
+
+    # 获取用户输入的摄像头方位 （front back left right）
+    parser.add_argument("--i", type=str, required=True, help="摄像头方位")
+
+    args = parser.parse_args()
+
+    print("相机方位:", args.i)
+
+    if args.i == "front":
+        which_camera = 0
+    elif args.i == "back":
+        which_camera = 2
+    elif args.i == "left":
+        which_camera = 1
+    elif args.i == "right":
+        which_camera = 3
+    else:
+        print("[ERROR] Invalid camera direction. Use 'front', 'back', 'left', or 'right'.", file=sys.stderr)
+        running = False
+        exit(1)
+
     # 启动视频线程
     vt = threading.Thread(target=video_thread, daemon=True)
     vt.start()