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camera.py
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camera.py
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'''摄像头 Camera
功能列表
1. 相机拍摄画面预览
1. 图像采集并保存在特定的路径
2. UVC相机参数的可视化调参
备注:
1. 不同摄像头型号的可设置的参数及取值范围各不相同.
----------------------------
作者: 阿凯爱玩机器人
微信: xingshunkai
更新日期: 2022/03/03
'''
import time
import cv2
import numpy as np
import pickle
import subprocess
import math
import yaml
import logging
class Camera:
'''USB摄像头类'''
def __init__(self):
with open('config/camera.yaml', 'r', encoding='utf-8') as f:
self.config = yaml.load(f.read(), Loader=yaml.SafeLoader)
self.init_camera()
def init_camera(self):
'''UVC摄像头初始化'''
pass
def read(self):
return self.capture.read()
def get_video_capture(self):
'''生成Capture对象'''
capture = None
capture = cv2.VideoCapture(int(self.config['device']))
# capture = cv2.VideoCapture("http://192.168.227.156:4747/video")
# 设置分辨率
capture.set(cv2.CAP_PROP_FRAME_HEIGHT, int(self.config['img_height']))#设置图像高度
capture.set(cv2.CAP_PROP_FRAME_WIDTH, int(self.config['img_width'])) #设置图像宽度
# self.init_camera()
capture.set(cv2.CAP_PROP_FPS, int(self.config['fps']))
capture.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')) # 设置编码方式
# 缓冲区设置为1结果就是帧率只有 15fps
# 缓冲区设置为2之后帧率提升到40FPS
capture.set(cv2.CAP_PROP_BUFFERSIZE, int(self.config['buffer_size']) )#设置视频缓冲区为3
self.capture = capture
return capture
def load_cam_calib_data(self):
'''载入相机标定数据'''
# 读取标定参数
# 获取摄像头内参
self.intrinsic = np.loadtxt('config/M_intrisic.txt', delimiter=',')
# 获取摄像头的畸变系数
self.distortion = np.loadtxt('config/distor_coeff.txt', delimiter=',')
# 去除畸变后的相机内参与畸变系数
self.intrinsic_new = np.loadtxt('config/M_intrisic_new.txt', delimiter=',')
self.distortion_new = np.ndarray([0, 0, 0, 0, 0]).astype("float32")
# x轴的映射
self.remap_x = np.loadtxt('config/remap_x.txt', delimiter=',').astype("float32")
# y轴映射
self.remap_y = np.loadtxt('config/remap_y.txt', delimiter=',').astype("float32")
# 根据相机标定参数
# 提取图像中心(cx, cy)与焦距f(单位：像素)
self.f = (self.intrinsic[0, 0] + self.intrinsic[1, 1])/2
# 图像中心的坐标
self.cx = self.intrinsic[0, 2]
self.cy = self.intrinsic[1, 2]
# 生成视场角等相关参数
self.alpha1 = np.arctan(self.cy/self.f)
self.alpha2 = np.arctan((self.config['img_height']-self.cy)/self.f)
self.beta1 = np.arctan(self.cx/self.f)
self.beta2 = np.arctan((self.config['img_width']-self.cx)/self.f)
def remove_distortion(self, image):
'''图像去除畸变'''
return cv2.remap(image, self.remap_x, self.remap_y, cv2.INTER_LINEAR)
def empty_cache(self):
'''清空摄像头的缓冲区'''
for i_frame in range(self.config['buffer_size']):
ret, frame = self.capture.read()
def main(argv):
'''调整相机参数, 预览图像'''
img_cnt = FLAGS.img_cnt
# 创建相机对象
camera = Camera()
# 初始相机
camera.init_camera()
capture = camera.get_video_capture()
if FLAGS.rm_distortion:
# 载入标定数据
camera.load_cam_calib_data()
# 创建一个名字叫做 “image_win” 的窗口
win_name = 'image_win'
cv2.namedWindow(win_name,flags=cv2.WINDOW_NORMAL | cv2.WINDOW_KEEPRATIO | cv2.WINDOW_GUI_EXPANDED)
fps = 40 # 设定一个初始值
while True:
start = time.time()
ret, image = capture.read()
if not ret:
logging.error('图像获取失败')
break
if FLAGS.rm_distortion:
# 图像去除畸变
image = camera.remove_distortion(image)
# 创建画布
canvas = np.copy(image)
# 添加帮助信息
cv2.putText(canvas, text='S:Save Image',\
org=(50, camera.config['img_height']-100), fontFace=cv2.FONT_HERSHEY_SIMPLEX, \
fontScale=1, thickness=2, lineType=cv2.LINE_AA, color=(0, 0, 255))
cv2.putText(canvas, text='Q: Quit',\
org=(50, camera.config['img_height']-50), fontFace=cv2.FONT_HERSHEY_SIMPLEX, \
fontScale=1, thickness=2, lineType=cv2.LINE_AA, color=(0, 0, 255))
# 在画布上添加帧率的信息
cv2.putText(canvas, text='FPS: {}'.format(fps),\
org=(50, 50), fontFace=cv2.FONT_HERSHEY_SIMPLEX, \
fontScale=1, thickness=2, lineType=cv2.LINE_AA, color=(0, 0, 255))
# 更新窗口“image_win”中的图片
cv2.imshow('image_win', canvas)
end = time.time()
fps = int(0.6*fps + 0.4*1/(end-start))
# fps = 1
key = cv2.waitKey(1)
if key == ord('q'):
# 如果按键为q 代表quit 退出程序
break
elif key == ord('s'):
# s键代表保存数据
cv2.imwrite('{}/{}.png'.format(FLAGS.img_path, img_cnt), image)
logging.info("截图，并保存在 {}/{}.png".format(FLAGS.img_path, img_cnt))
img_cnt += 1
# 关闭摄像头
capture.release()
# 销毁所有的窗口
cv2.destroyAllWindows()
if __name__ == '__main__':
import logging
import sys
from absl import app
from absl import flags
# 设置日志等级
logging.basicConfig(level=logging.INFO)
# 定义参数
FLAGS = flags.FLAGS
# flags.DEFINE_integer('device', 0, '摄像头的设备号')
flags.DEFINE_integer('img_cnt', 0, '图像计数的起始数值')
flags.DEFINE_string('img_path', 'data/image_raw', '图像的保存地址')
flags.DEFINE_boolean('rm_distortion', False, '载入相机标定数据, 去除图像畸变')
# 运行主程序
app.run(main)