环视运行

2025-12-19 17:08:28 +08:00
parent 5283a6f54a
commit 86df465b15
47 changed files with 485 additions and 102 deletions
--- a/getimg.py
+++ b/getimg.py
@@ -0,0 +1,131 @@
+# 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
+
+# Front 参数
+K = np.array([[ 5.3382445956203196e+02, 0., 9.7253025945442369e+02],
+            [0., 5.3393792084343488e+02, 5.6249605531924215e+02],
+            [ 0., 0., 1. ]])
+D = np.array([ -1.5749135021037808e-02, 2.9390620422222835e-03,
+       -4.3176357910129585e-03, 1.3296605027646462e-03 ])
+
+# 加载鱼眼相机参数
+
+W, H = 1920, 1080
+
+
+
+def video_thread():
+    global frame, running
+    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)
+    # cap.set(cv2.CAP_PROP_FPS, 30)
+
+    if not cap.isOpened():
+        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()
+
+        # 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
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+def input_thread():
+    global running
+    print("Commands: 's' = screenshot, 'q' = quit")
+    while running:
+        try:
+            cmd = input().strip().lower()
+            if cmd == 's':
+                if frame is not None:
+                    filename = f"./images/{args.i.lower()}.png"
+                    cv2.imwrite(filename, frame)
+                    print(f"[SSH] Saved: {os.path.abspath(filename)}")
+                else:
+                    print("[SSH] No frame available yet.")
+            elif cmd == 'q':
+                running = False
+                break
+            else:
+                print("[SSH] Unknown command. Use 's' or 'q'.")
+        except EOFError:
+            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()
+
+    # 主线程监听 SSH 输入
+    input_thread()
+
+    print("[INFO] Exiting...")