关于python:双目三维重建系统双目标定立体校正双目测距点云显示Python

import os
import argparse
import cv2
class StereoCamera(object):

"""采集双目标定图片，按键盘【c】或【s】保留图片"""def __init__(self, chess_width, chess_height, detect=False):    """    :param chess_width: chessboard width size，即棋盘格宽方向黑白格子相交点个数，    :param chess_height: chessboard height size，即棋盘格长方向黑白格子相交点个数    :param detect: 是否实时检测棋盘格，不便采集数据    """    self.chess_width = chess_width    self.chess_height = chess_height    self.detect = detect    self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)def detect_chessboard(self, image):    """检测棋盘格"""    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)    ret, corners = cv2.findChessboardCorners(gray, (self.chess_width, self.chess_height), None)    if ret:        # 角点精检测        corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), self.criteria)        # Draw and display the corners        image = cv2.drawChessboardCorners(image, (self.chess_width, self.chess_height), corners2, ret)    return imagedef capture2(self, left_video, right_video, save_dir):    """    用于采集双USB连接线的双目摄像头    :param left_video:int or str,左路视频门路或者摄像头ID    :param right_video:int or str,右视频门路或者摄像头ID    :param save_dir: str,保留左右图片的门路    :return:    """    self.create_file(save_dir)    capL = cv2.VideoCapture(left_video)    capR = cv2.VideoCapture(right_video)    widthL, heightL, numFramesL, fpsL = self.get_video_info(capL)    widthR, heightR, numFramesR, fpsR = self.get_video_info(capR)    print("capL:\n", widthL, heightL, numFramesL, fpsL)    print("capR:\n", widthR, heightR, numFramesR, fpsR)    save_videoL = self.create_file(save_dir, "video", "left_video.avi")    save_videoR = self.create_file(save_dir, "video", "right_video.avi")    writerL = self.get_video_writer(save_videoL, widthL, heightL, fpsL)    writerR = self.get_video_writer(save_videoR, widthR, heightR, fpsR)    i = 0    while True:        isuccessL, frameL = capL.read()        isuccessR, frameR = capR.read()        if not (isuccessL and isuccessR):            print("No more frames")            break        if self.detect:            l = self.detect_chessboard(frameL.copy())            r = self.detect_chessboard(frameR.copy())        else:            l = frameL.copy()            r = frameR.copy()        cv2.imshow('left', l)        cv2.imshow('right', r)        key = cv2.waitKey(10)        if key == ord('q'):            break        elif key == ord('c') or key == ord('s'):            print("save image:{:0=3d}".format(i))            cv2.imwrite(os.path.join(save_dir, "left_{:0=3d}.png".format(i)), frameL)            cv2.imwrite(os.path.join(save_dir, "right_{:0=3d}.png".format(i)), frameR)            i += 1        writerL.write(frameL)        writerR.write(frameR)    capL.release()    capR.release()    cv2.destroyAllWindows()def capture1(self, video, save_dir):    """    用于采集单USB连接线的双目摄像头(左右摄像头被拼接在同一个视频中显示)    :param video:int or str,[利率期货](https://www.gendan5.com/ff/if.html)视频门路或者摄像头ID    :param save_dir: str,保留左右图片的门路    """    self.create_file(save_dir)    cap = cv2.VideoCapture(video)    width, height, numFrames, fps = self.get_video_info(cap)    print("capL:\n", width, height, numFrames, fps)    save_videoL = self.create_file(save_dir, "video", "left_video.avi")    save_videoR = self.create_file(save_dir, "video", "right_video.avi")    writerL = self.get_video_writer(save_videoL, int(width / 2), height, fps)    writerR = self.get_video_writer(save_videoR, int(width / 2), height, fps)    i = 0    while True:        isuccess, frame = cap.read()        if not isuccess:            print("No more frames")            break        # 拆散左右摄像头        frameL = frame[:, :int(width / 2), :]        frameR = frame[:, int(width / 2):, :]        if self.detect:            l = self.detect_chessboard(frameL.copy())            r = self.detect_chessboard(frameR.copy())        else:            l = frameL.copy()            r = frameR.copy()        cv2.imshow('left', l)        cv2.imshow('right', r)        key = cv2.waitKey(10)        if key == ord('q'):            break        elif key == ord('c') or key == ord('s'):            print("save image:{:0=3d}".format(i))            cv2.imwrite(os.path.join(save_dir, "left_{:0=3d}.png".format(i)), frameL)            cv2.imwrite(os.path.join(save_dir, "right_{:0=3d}.png".format(i)), frameR)            i += 1        writerL.write(frameL)        writerR.write(frameR)    cap.release()    cv2.destroyAllWindows()@staticmethoddef get_video_info(video_cap):    width = int(video_cap.get(cv2.CAP_PROP_FRAME_WIDTH))    height = int(video_cap.get(cv2.CAP_PROP_FRAME_HEIGHT))    numFrames = int(video_cap.get(cv2.CAP_PROP_FRAME_COUNT))    fps = int(video_cap.get(cv2.CAP_PROP_FPS))    return width, height, numFrames, fps@staticmethoddef get_video_writer(save_path, width, height, fps):    if not os.path.exists(os.path.dirname(save_path)):        os.makedirs(os.path.dirname(save_path))    fourcc = cv2.VideoWriter_fourcc(*'XVID')    frameSize = (int(width), int(height))    video_writer = cv2.VideoWriter(save_path, fourcc, fps, frameSize)    print("video:width:{},height:{},fps:{}".format(width, height, fps))    return video_writer@staticmethoddef create_file(parent_dir, dir1=None, filename=None):    out_path = parent_dir    if dir1:        out_path = os.path.join(parent_dir, dir1)    if not os.path.exists(out_path):        os.makedirs(out_path)    if filename:        out_path = os.path.join(out_path, filename)    return out_path

def str2bool(v):

return v.lower() in ('yes', 'true', 't', 'y', '1')

def get_parser():

width = 8height = 11left_video = -1right_video = 0save_dir = "data/camera"parser = argparse.ArgumentParser(description='Camera calibration')parser.add_argument('--width', type=int, default=width, help='chessboard width size')parser.add_argument('--height', type=int, default=height, help='chessboard height size')parser.add_argument('--left_video', type=int, default=left_video, help='left video file or camera ID')parser.add_argument('--right_video', type=int, default=right_video, help='right video file or camera ID')parser.add_argument('--detect', type=str2bool, nargs='?', const=True, help='detect chessboard ')parser.add_argument('--save_dir', type=str, default=save_dir, help='YML file to save calibrate matrices')return parser

if name == '__main__':

args = get_parser().parse_args()stereo = StereoCamera(args.width, args.height, detect=args.detect)if args.left_video > -1 and args.right_video > -1:    # 双USB连接线的双目摄像头    stereo.capture2(left_video=args.left_video, right_video=args.right_video, save_dir=args.save_dir)elif args.left_video > -1:    # 单USB连接线的双目摄像头(左右摄像头被拼接在同一个视频中显示)    stereo.capture1(video=args.left_video, save_dir=args.save_dir)elif args.right_video > -1:    # 单USB连接线的双目摄像头(左右摄像头被拼接在同一个视频中显示)    stereo.capture1(video=args.right_video, save_dir=args.save_dir)else:    raise Exception("Error: Check your camera{}".format(args.left_video, args.right_video))