class Vision(Page):
def __init__(self, builder, config):
super(Vision, self).__init__(builder, config)
self.update = False
self.left_image = None
self.right_image = None
self.left_view = VideoView('Left Camera')
self.right_view = VideoView('Right Camera')
self.depth_view = VideoView('Depth View')
self.rectify_check = self.builder.get_object('rectify_check')
self.notebook = self.builder.get_object('stereo_notebook')
def on_prepare(self):
self.camera = StereoCamera(self.config.camera.left_id,
self.config.camera.right_id,
self.config.camera.width,
self.config.camera.height)
for view in (self.left_view, self.right_view, self.depth_view):
view.set_default_size(self.camera.width, self.camera.height)
view.show_all()
self.left_maps = cv2.initUndistortRectifyMap(
self.config.camera.left_intrinsics,
self.config.camera.left_distortion, self.config.camera.R1,
self.config.camera.P1, self.camera.size, cv2.CV_16SC2)
self.right_maps = cv2.initUndistortRectifyMap(
self.config.camera.right_intrinsics,
self.config.camera.right_distortion, self.config.camera.R2,
self.config.camera.P2, self.camera.size, cv2.CV_16SC2)
self.update = True
GLib.idle_add(self.on_update)
def on_cleanup(self):
self.update = False
self.left_view.hide()
self.right_view.hide()
self.depth_view.hide()
self.camera.release()
self.camera = None
def on_update(self):
if not self.update:
return False
self.camera.grab()
left_image, right_image = self.camera.retrieve()
if self.rectify_check.get_active():
left_image = cv2.remap(left_image, self.left_maps[0],
self.left_maps[1], cv2.INTER_LINEAR)
right_image = cv2.remap(right_image, self.right_maps[0],
self.right_maps[1], cv2.INTER_LINEAR)
if self.notebook.get_current_page() == 0:
disparity_image = vision.stereobm(self.config, left_image,
right_image)
elif self.notebook.get_current_page() == 1:
disparity_image = vision.stereosgbm(self.config, left_image,
right_image)
elif self.notebook.get_current_page() == 2:
disparity_image = vision.stereovar(self.config, left_image,
right_image)
# Redraw the windows
self.left_view.update(left_image)
self.right_view.update(right_image)
self.depth_view.update_depth(disparity_image)
return True
class Vision(Page):
def __init__(self, builder, config):
super(Vision, self).__init__(builder, config)
self.update = False
self.left_image = None
self.right_image = None
self.left_view = VideoView('Left Camera')
self.right_view = VideoView('Right Camera')
self.depth_view = VideoView('Depth View')
self.rectify_check = self.builder.get_object(
'rectify_check')
self.notebook = self.builder.get_object('stereo_notebook')
def on_prepare(self):
self.camera = StereoCamera(self.config.camera.left_id,
self.config.camera.right_id,
self.config.camera.width,
self.config.camera.height)
for view in (self.left_view, self.right_view, self.depth_view):
view.set_default_size(self.camera.width,
self.camera.height)
view.show_all()
self.left_maps = cv2.initUndistortRectifyMap(
self.config.camera.left_intrinsics,
self.config.camera.left_distortion,
self.config.camera.R1, self.config.camera.P1,
self.camera.size, cv2.CV_16SC2)
self.right_maps = cv2.initUndistortRectifyMap(
self.config.camera.right_intrinsics,
self.config.camera.right_distortion,
self.config.camera.R2, self.config.camera.P2,
self.camera.size, cv2.CV_16SC2)
self.update = True
GLib.idle_add(self.on_update)
def on_cleanup(self):
self.update = False
self.left_view.hide()
self.right_view.hide()
self.depth_view.hide()
self.camera.release()
self.camera = None
def on_update(self):
if not self.update:
return False
self.camera.grab()
left_image, right_image = self.camera.retrieve()
if self.rectify_check.get_active():
left_image = cv2.remap(left_image, self.left_maps[0],
self.left_maps[1], cv2.INTER_LINEAR)
right_image = cv2.remap(right_image, self.right_maps[0],
self.right_maps[1], cv2.INTER_LINEAR)
if self.notebook.get_current_page() == 0:
disparity_image = vision.stereobm(self.config,
left_image, right_image)
elif self.notebook.get_current_page() == 1:
disparity_image = vision.stereosgbm(self.config,
left_image, right_image)
elif self.notebook.get_current_page() == 2:
disparity_image = vision.stereovar(self.config,
left_image, right_image)
# Redraw the windows
self.left_view.update(left_image)
self.right_view.update(right_image)
self.depth_view.update_depth(disparity_image)
return True
class Capture(Page):
def __init__(self, builder, config):
super(Capture, self).__init__(builder, config)
self.update = False
self.left_image = None
self.right_image = None
self.left_view = VideoView('Left Camera')
self.right_view = VideoView('Right Camera')
self.count_entry = self.builder.get_object('snap_count_entry')
self.builder.get_object('snap_button').connect('clicked', self.on_snap)
self.builder.get_object('save_points_button').connect(
'clicked', self.on_save)
def on_prepare(self):
self.camera = StereoCamera(self.config.camera.left_id,
self.config.camera.right_id,
self.config.camera.width,
self.config.camera.height)
self.count_entry.set_text('0')
for view in (self.left_view, self.right_view):
view.set_default_size(self.config.camera.width,
self.config.camera.height)
view.show_all()
self.update = True
GLib.idle_add(self.on_update)
def on_cleanup(self):
self.update = False
self.left_view.hide()
self.right_view.hide()
self.camera.release()
self.camera = None
def on_update(self):
if not self.update:
return False
self.camera.grab()
self.left_image, self.right_image = self.camera.retrieve()
self.left_points = vision.find_points(self.config, self.left_image)
self.right_points = vision.find_points(self.config, self.right_image)
# Redraw the windows
self.left_view.update(self.left_image)
self.right_view.update(self.right_image)
return True
def on_snap(self, button):
if None in (self.left_points, self.right_points):
return
self.config.calibration.append_point(
vision.get_pattern_points(self.config), self.left_points,
self.right_points)
self.count_entry.set_text(str(self.config.calibration.len_points()))
def on_save(self, button):
file_name = self._do_save_dialog('Save captured points as...',
'points.json')
if file_name is not None:
self.config.save_points(file_name)
class Capture(Page):
def __init__(self, builder, config):
super(Capture, self).__init__(builder, config)
self.update = False
self.left_image = None
self.right_image = None
self.left_view = VideoView('Left Camera')
self.right_view = VideoView('Right Camera')
self.count_entry = self.builder.get_object('snap_count_entry')
self.builder.get_object('snap_button').connect('clicked', self.on_snap)
self.builder.get_object('save_points_button').connect('clicked',
self.on_save)
def on_prepare(self):
self.camera = StereoCamera(self.config.camera.left_id,
self.config.camera.right_id,
self.config.camera.width,
self.config.camera.height)
self.count_entry.set_text('0')
for view in (self.left_view, self.right_view):
view.set_default_size(self.config.camera.width,
self.config.camera.height)
view.show_all()
self.update = True
GLib.idle_add(self.on_update)
def on_cleanup(self):
self.update = False
self.left_view.hide()
self.right_view.hide()
self.camera.release()
self.camera = None
def on_update(self):
if not self.update:
return False
self.camera.grab()
self.left_image, self.right_image = self.camera.retrieve()
self.left_points = vision.find_points(self.config, self.left_image)
self.right_points = vision.find_points(self.config, self.right_image)
# Redraw the windows
self.left_view.update(self.left_image)
self.right_view.update(self.right_image)
return True
def on_snap(self, button):
if None in (self.left_points, self.right_points):
return
self.config.calibration.append_point(
vision.get_pattern_points(self.config),
self.left_points, self.right_points)
self.count_entry.set_text(str(self.config.calibration.len_points()))
def on_save(self, button):
file_name = self._do_save_dialog('Save captured points as...',
'points.json')
if file_name is not None:
self.config.save_points(file_name)