def main():
"""Produce PLY point clouds from stereo image pair."""
parser = argparse.ArgumentParser(description="Read images taken with "
"stereo pair and use them to produce 3D "
"point clouds that can be viewed with "
"MeshLab.",
parents=[STEREO_BM_FLAG])
parser.add_argument("calibration", help="Path to calibration folder.")
parser.add_argument("left", help="Path to left image")
parser.add_argument("right", help="Path to right image")
parser.add_argument("output", help="Path to output file.")
parser.add_argument("--bm_settings",
help="Path to block matcher's settings.")
args = parser.parse_args()
image_pair = [cv2.imread(image) for image in [args.left, args.right]]
calib_folder = args.calibration
if args.use_stereobm:
block_matcher = StereoBM()
else:
block_matcher = StereoSGBM()
if args.bm_settings:
block_matcher.load_settings(args.bm_settings)
camera_pair = CalibratedPair(None,
StereoCalibration(input_folder=calib_folder),
block_matcher)
rectified_pair = camera_pair.calibration.rectify(image_pair)
points = camera_pair.get_point_cloud(rectified_pair)
points = points.filter_infinity()
points.write_ply(args.output)
def __init__(self,
calib_foler='calib_files_test',
SGBM_setting='settings/SGBM'):
self.calibration = StereoCalibration(input_folder=calib_foler)
self.block_matcher = StereoSGBM()
self.block_matcher.load_settings(settings=SGBM_setting)
self.CalibratedPair = CalibratedPair(None, self.calibration,
self.block_matcher)
self.imageSize = (1280, 720)
self.left_img = None
self.right_img = None
def main():
parser = ArgumentParser(
description="Read images taken from a calibrated "
"stereo pair, compute disparity maps from them and "
"show them interactively to the user, allowing the "
"user to tune the stereo block matcher settings in "
"the GUI.",
parents=[STEREO_BM_FLAG])
parser.add_argument(
"calibration_folder",
help="Directory where calibration files for the stereo "
"pair are stored.")
parser.add_argument("image_folder",
help="Directory where input images are stored.")
parser.add_argument("--bm_settings",
help="File to save last block matcher settings to.",
default="")
args = parser.parse_args()
calibration = StereoCalibration(input_folder=args.calibration_folder)
input_files = find_files(args.image_folder)
if args.use_stereobm:
block_matcher = StereoBM()
else:
block_matcher = StereoSGBM()
image_pair = [cv2.imread(image) for image in input_files[:2]]
input_files = input_files[2:]
rectified_pair = calibration.rectify(image_pair)
tuner = BMTuner(block_matcher, calibration, rectified_pair)
while input_files:
image_pair = [cv2.imread(image) for image in input_files[:2]]
rectified_pair = calibration.rectify(image_pair)
tuner.tune_pair(rectified_pair)
input_files = input_files[2:]
for param in block_matcher.parameter_maxima:
print("{}\n".format(tuner.report_settings(param)))
if args.bm_settings:
block_matcher.save_settings(args.bm_settings)
import cv2
from stereovision.blockmatchers import StereoBM, StereoSGBM
from stereovision.calibration import StereoCalibration
from stereovision.stereo_cameras import CalibratedPair
from stereovision.ui_utils import STEREO_BM_FLAG
if __name__ == '__main__':
image_pair = [
cv2.imread(image)
for image in ['./test/left_test.jpg', './test/right_test.jpg']
]
calib_folder = 'calibration_result'
use_stereobm = False
bm_settings = 'bm_setting'
if use_stereobm:
block_matcher = StereoBM()
else:
block_matcher = StereoSGBM()
if bm_settings:
block_matcher.load_settings(bm_settings)
camera_pair = CalibratedPair(None,
StereoCalibration(input_folder=calib_folder),
block_matcher)
rectified_pair = camera_pair.calibration.rectify(image_pair)
points = camera_pair.get_point_cloud(rectified_pair)
points = points.filter_infinity()
points.write_ply('./test/test_poc')
