191 lines
6.2 KiB
Python
191 lines
6.2 KiB
Python
import cv2
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import threading
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import sys
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from datetime import datetime
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import os
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import argparse
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import numpy as np
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# 全局变量
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frame = None
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running = True
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which_camera = 0
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W, H = 1920, 1080 # 相机分辨率
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def load_camera_params(camera_name):
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"""
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从YAML文件加载相机参数
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"""
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yaml_file = os.path.join("yaml", f"{camera_name}.yaml")
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if not os.path.exists(yaml_file):
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raise FileNotFoundError(f"YAML file not found: {yaml_file}")
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# 使用OpenCV读取YAML文件
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fs = cv2.FileStorage(yaml_file, cv2.FILE_STORAGE_READ)
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# 读取相机内参矩阵
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camera_matrix = fs.getNode("camera_matrix").mat()
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# 读取畸变系数
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dist_coeffs = fs.getNode("dist_coeffs").mat()
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# 读取投影矩阵
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project_matrix = fs.getNode("project_matrix").mat()
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# 读取缩放参数
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scale_xy_node = fs.getNode("scale_xy")
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if scale_xy_node.empty():
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scale_xy = np.array([1.0, 1.0])
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else:
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scale_xy = scale_xy_node.mat().flatten()
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# 读取偏移参数
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shift_xy_node = fs.getNode("shift_xy")
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if shift_xy_node.empty():
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shift_xy = np.array([0.0, 0.0])
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else:
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shift_xy = shift_xy_node.mat().flatten()
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fs.release()
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return camera_matrix, dist_coeffs, project_matrix, scale_xy, shift_xy
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def video_thread():
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global frame, running
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# 动态加载当前摄像头的参数
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try:
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K, D, front_proj_matrix, scale_xy, shift_xy = load_camera_params(args.i.lower())
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print(f"[INFO] Loaded parameters for {args.i} camera")
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except Exception as e:
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print(f"[ERROR] Failed to load camera parameters: {e}", file=sys.stderr)
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running = False
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return
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cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY)
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cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV"))
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
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if not cap.isOpened():
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print("[ERROR] Cannot open camera", file=sys.stderr)
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running = False
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return
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# 创建修改后的相机矩阵（包含缩放和平移）
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modified_camera_matrix = K.copy()
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modified_camera_matrix[0, 0] *= scale_xy[0] # fx *= scale_x
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modified_camera_matrix[1, 1] *= scale_xy[1] # fy *= scale_y
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modified_camera_matrix[0, 2] += shift_xy[0] # cx += shift_x
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modified_camera_matrix[1, 2] += shift_xy[1] # cy += shift_y
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# 鱼眼相机去畸变 合并缩放系数
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map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), modified_camera_matrix, (W, H), cv2.CV_16SC2)
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# 鱼眼相机仅畸变
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map3, map4 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)
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while running:
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ret, f = cap.read()
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if not ret:
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break
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# 图像去畸变
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undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
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undistorted2 = cv2.remap(f, map3, map4, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
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proj_image = cv2.warpPerspective(
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undistorted,
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front_proj_matrix,
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(W, H), # 输出大小 (与原始分辨率一致)
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borderMode=cv2.BORDER_CONSTANT,
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borderValue=(0, 0, 0)
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)
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frame = f.copy()
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birdseye_small = cv2.resize(f, (W//2, H//2))
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undistorted2_small = cv2.resize(undistorted2, (W//2, H//2))
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# 拼接原视频和抗畸变后的视频 （左右显示）
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comparison = np.hstack((birdseye_small, undistorted2_small))
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show_video = np.vstack((comparison, proj_image))
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# 设置视频流全屏显示
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text_info = f"Camera: {args.i.upper()} | Press 'q' to quit, 's' to screenshot"
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cv2.putText(show_video, text_info, (10, 30),
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cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA)
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cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN)
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cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
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cv2.imshow('Video old vs new', show_video)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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running = False
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break
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cap.release()
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cv2.destroyAllWindows()
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def input_thread():
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global running
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print("SSH命令: 's' = 截图, 'q' = 退出")
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while running:
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try:
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cmd = input().strip().lower()
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if cmd == 's':
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if frame is not None:
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filename = f"./images/{args.i.lower()}.png"
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cv2.imwrite(filename, frame)
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print(f"[SSH] Saved: {os.path.abspath(filename)}")
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else:
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print("[SSH] No frame available yet.")
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elif cmd == 'q':
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running = False
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break
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else:
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print("[SSH] Unknown command. Use 's' or 'q'.")
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except EOFError:
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break
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if __name__ == "__main__":
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# 获取用户参数启动
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parser = argparse.ArgumentParser(description="Camera Parameter Loading Tool")
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# 获取用户输入的摄像头方位 （front back left right）
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parser.add_argument("--i", type=str, required=True,
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choices=["front", "back", "left", "right"],
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help="Camera direction (front/back/left/right)")
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args = parser.parse_args()
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print("相机方位:", args.i)
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if args.i == "front":
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which_camera = 0
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elif args.i == "back":
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which_camera = 2
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elif args.i == "left":
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which_camera = 1
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elif args.i == "right":
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which_camera = 3
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else:
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print("[ERROR] Invalid camera direction. Use 'front', 'back', 'left', or 'right'.", file=sys.stderr)
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running = False
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exit(1)
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# 检查YAML目录是否存在
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yaml_dir = "yaml"
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if not os.path.exists(yaml_dir):
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print(f"[ERROR] YAML directory not found: {yaml_dir}", file=sys.stderr)
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print("Please ensure YAML files are in the 'yaml' directory", file=sys.stderr)
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exit(1)
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# 启动视频线程
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vt = threading.Thread(target=video_thread, daemon=True)
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vt.start()
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# 主线程监听 SSH 输入
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input_thread()
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print("[INFO] Exiting...") |