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 run():
motor_controller = MotorController('/dev/cu.usbmodem14211')
sp = StereoPair(DEVICES_ID)
block_matcher = StereoBM()
camera_pair = CalibratedPair(
None, StereoCalibration(input_folder='calibration/'), block_matcher)
current_value = None
last_size = None
i = 0
while True:
frames_single_img = sp.get_frames()
points = camera_pair.get_point_cloud(frames_single_img)
points = points.filter_infinity()
number = []
for level1 in points.coordinates:
if not level1[2] == 512:
number.append([0.0, 0.0, level1[2]])
number_size = len(number)
if last_size:
current_value = (number_size + last_size) / 2
# print current_value
last_size = number_size
i += 1
motor_state = False
if not current_value >= 3000:
print current_value
motor_state = True
motor_controller.send(motor_state)
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 setup_full_operation(self):
print(
'WARNING: This step should be run after calibration is successful.'
)
self._stereo_rig = CalibratedPair(
None, StereoCalibration(input_folder='calib'), StereoBM())
from stereovision.stereo_cameras import StereoPair
from stereovision.stereo_cameras import CalibratedPair
from stereovision.calibration import StereoCalibration
from stereovision.blockmatchers import StereoBM
import numpy as np
# NOTE: INCLUDED CALIB FILES ARE FOR THE (LEFT, RIGHT) STEREOPAIR.
# DO NOT USE (LEFT, CENTER)
# camera numbers
devices = (1, 2)
st_pair = StereoPair(devices)
st_bm = StereoBM(stereo_bm_preset=.0,
search_range=80,
window_size=21,
settings=None)
load_calib = StereoCalibration(st_pair, input_folder='calib_leftright')
cal_pair = CalibratedPair(devices, load_calib, st_bm)
cal_pair.live_point_cloud(devices)
np.save("cloudtest.npy", np.ndarray(cal_pair.live_point_cloud(devices)))
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')
from stereovision.stereo_cameras import StereoPair
from stereovision.stereo_cameras import CalibratedPair
from stereovision.calibration import StereoCalibration as StereoCalibration
from stereovision.blockmatchers import BlockMatcher as Blockmatcher
file_path = 'calib'
calibration = StereoCalibration(input_folder="../../calib/")
devices = (1, 2)
st_pair = StereoPair(devices)
bl_match = Blockmatcher(calibration)
cal_pair = CalibratedPair(st_pair, calibration, bl_match)
if calibration:
calibration.export("calibrated_cameras")
