def main():
"""
Let user tune all images in the input folder and report chosen values.
Load a calibration from file and instantiate a ``BlockMatcher`` of the type
requested by the user. Load images successively from input folder and
display their resultant disparity map generated with the ``BlockMatcher``
and the parameters chosen in the ``BMTuner``'s GUI. Afterwards, report
user's chosen settings and, if a file for the BM settings is provided, save
the most common settings to file.
"""
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_SGBM_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)
def main():
"""
Let user tune all images in the input folder and report chosen values.
Load a calibration from file and instantiate a ``BlockMatcher`` of the type
requested by the user. Load images successively from input folder and
display their resultant disparity map generated with the ``BlockMatcher``
and the parameters chosen in the ``BMTuner``'s GUI. Afterwards, report
user's chosen settings and, if a file for the BM settings is provided, save
the most common settings to file.
"""
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_SGBM_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)
def main():
"""
Take a pictures with chessboard visible to both cameras in a stereo pair.
"""
parser = argparse.ArgumentParser(description=PROGRAM_DESCRIPTION,
parents=[calibrate_stereo.CHESSBOARD_ARGUMENTS])
parser.add_argument("left", metavar="left", type=int,
help="Device numbers for the left camera.")
parser.add_argument("right", metavar="right", type=int,
help="Device numbers for the right camera.")
parser.add_argument("num_pictures", type=int, help="Number of valid "
"chessboard pictures that should be taken.")
parser.add_argument("output_folder", help="Folder to save the images to.")
parser.add_argument("--calibration-folder", help="Folder to save camera "
"calibration to.")
args = parser.parse_args()
if (args.calibration_folder and not args.square_size):
args.print_help()
progress = progressbar.ProgressBar(maxval=args.num_pictures,
widgets=[progressbar.Bar("=", "[", "]"),
" ", progressbar.Percentage()])
if not os.path.exists(args.output_folder):
os.makedirs(args.output_folder)
with ChessboardFinder((args.left, args.right)) as pair:
for i in range(args.num_pictures):
frames = pair.get_chessboard(args.columns, args.rows, True)
for side, frame in zip(("left", "right"), frames):
number_string = str(i + 1).zfill(len(str(args.num_pictures)))
filename = "{}_{}.ppm".format(side, number_string)
output_path = os.path.join(args.output_folder, filename)
cv2.imwrite(output_path, frame)
progress.update(progress.maxval - (args.num_pictures - i))
for i in range(10):
pair.show_frames(1)
progress.finish()
if args.calibration_folder:
args.input_files = calibrate_stereo.find_files(args.output_folder)
args.output_folder = args.calibration_folder
args.show_chessboards = True
calibrate_stereo.calibrate_folder(args)