Revision of 相机内参测试工具

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1 file changed, 139 insertions

camera_undistorted_tool.py(arquivo criado)

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1	+	import cv2
2	+	import threading
3	+	import sys
4	+	import os
5	+	import argparse
6	+	import numpy as np
7	+	import time
8	+
9	+
10	+	running = True
11	+	capture_flag = False
12	+
13	+	# 内参 (K) 与畸变系数 (D)
14	+	K = np.array([[ 3.9875655282072148e+02, 0., 6.3788553583130647e+02],
15	+	[0.,3.7214138046449295e+02, 3.4915903287538981e+02],
16	+	[ 0., 0., 1. ]])
17	+	D = np.array([ 8.6662165805452579e-02, -2.8155159006680735e-02,
18	+	-3.5111914522638211e-02, 1.4621518110074484e-02 ])
19	+
20	+	W, H = 1280, 720
21	+
22	+
23	+	def input_thread():
24	+
25	+	global running, capture_flag
26	+	print("\n终端输入's'截图,'q'退出程序。")
27	+	while running:
28	+	try:
29	+	cmd = input().strip().lower()
30	+	if cmd == 's':
31	+	capture_flag = True
32	+	elif cmd == 'q':
33	+	print("退出命令触发")
34	+	running = False
35	+	break
36	+	except EOFError:
37	+	break
38	+	except Exception:
39	+	pass
40	+
41	+
42	+	def main():
43	+	global running, capture_flag
44	+
45	+
46	+	parser = argparse.ArgumentParser(description="Multi-Camera Hardware Reference Tool")
47	+	parser.add_argument("--i", type=str, required=True,
48	+	choices=["front", "back", "left", "right"],
49	+	help="摄像头方位 (front, back, left, right)")
50	+	args = parser.parse_args()
51	+
52	+	camera_mapping = {"front": 0, "left": 1, "back": 2, "right": 3}
53	+	which_camera = camera_mapping[args.i]
54	+	cam_name = args.i.upper()
55	+	print(f"无法打开摄像头节点: {cam_name} (Node: /dev/video{which_camera})")
56	+
57	+
58	+	save_dir = os.path.join(os.getcwd(), "images")
59	+	if not os.path.exists(save_dir):
60	+	os.makedirs(save_dir)
61	+
62	+
63	+	cmd_listener = threading.Thread(target=input_thread, daemon=True)
64	+	cmd_listener.start()
65	+
66	+
67	+	cap = None
68	+	try:
69	+	cap = cv2.VideoCapture(which_camera, cv2.CAP_V4L2)
70	+	cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV"))
71	+	cap.set(cv2.CAP_PROP_FRAME_WIDTH, W)
72	+	cap.set(cv2.CAP_PROP_FRAME_HEIGHT, H)
73	+	cap.set(cv2.CAP_PROP_BUFFERSIZE, 3)
74	+
75	+	if not cap.isOpened():
76	+	print(f"[ERROR] Cannot open camera /dev/video{which_camera}", file=sys.stderr)
77	+	running = False
78	+	return
79	+
80	+
81	+	map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2) # 预计算鱼眼镜头的抗畸变映射矩阵
82	+
83	+	cv2.namedWindow('PowLu camera tools', cv2.WND_PROP_FULLSCREEN)
84	+	cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
85	+
86	+	while running:
87	+	ret, f = cap.read()
88	+	if not ret or f is None:
89	+	time.sleep(0.01)
90	+	continue
91	+
92	+	raw_frame = f.copy()
93	+
94	+	if capture_flag:
95	+	filename = os.path.join(save_dir, f"{args.i.lower()}.png")
96	+	cv2.imwrite(filename, raw_frame)
97	+	print(f"[SUCCESS] Image saved accurately: {filename}")
98	+	capture_flag = False
99	+
100	+	undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
101	+	comparison = np.hstack((f, undistorted))
102	+
103	+	scale = min(1920 / comparison.shape[1], 1080 / comparison.shape[0])
104	+	if scale < 1:
105	+	comparison = cv2.resize(comparison, (int(comparison.shape[1] * scale), int(comparison.shape[0] * scale)))
106	+
107	+	comparison = np.ascontiguousarray(comparison, dtype=np.uint8)
108	+
109	+	text_info = f"Camera: {cam_name} \| Press 'q'='Quit', 's'='Screenshot'"
110	+	cv2.putText(comparison, text_info, (20, 50),
111	+	cv2.FONT_HERSHEY_SIMPLEX, 1.2, (0, 255, 255), 3, cv2.LINE_AA)
112	+
113	+	w_half = comparison.shape[1] // 2
114	+	h_bottom = comparison.shape[0] - 30
115	+	cv2.putText(comparison, "FISHEYE", (20, h_bottom),
116	+	cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 255, 0), 3)
117	+	cv2.putText(comparison, "UNDISTORTED", (w_half + 20, h_bottom),
118	+	cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 255, 0), 3)
119	+
120	+	cv2.imshow('PowLu camera tools', comparison)
121	+
122	+	key = cv2.waitKey(1) & 0xFF
123	+	if key == ord('q'):
124	+	running = False
125	+	break
126	+	elif key == ord('s'):
127	+	capture_flag = True
128	+
129	+	finally:
130	+	running = False
131	+	if cap is not None and cap.isOpened():
132	+	cap.release()
133	+	cv2.destroyAllWindows()
134	+
135	+	if __name__ == "__main__":
136	+	try:
137	+	main()
138	+	except KeyboardInterrupt:
139	+	running = False

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