현자 (HJ)

관련 Facebook 포스팅 링크입니다.    카카오톡을 안쓰기 때문에 모든 영상은 페북에 올리고 있습니다.

www.facebook.com/permalink.php?story_fbid=4051251598328692&id=100003316754962

프로젝트 원본 : https://stereopi.com/blog/opencv-and-depth-map-stereopi-tutorial

윗 프로젝트는 원래 Raspberry Pi용으로 만들어져서 PiCam라이브러리를 사용하기 때문에 일반 리눅스 용으로 사용하기에는 불편한데, 코드를 일반 Linux의 USB Cam 용으로 바꿨습니다.

첫 코드 1_test.py를 바꾼 내용을 올립니다.   이 코드와 저 사이트에서 다운받는 코드를 비교해 보면 나머지도 어떻게 바꾸는 지 쉽게 나옵니다.   그리고 초저가 USB Dual CAM 이 Dual 파이 캠보다 사용이 훨씬 좋고 resize를 안해서 속도도 훨씬 빨랐습니다.  

바뀐 1_test.py

# Modified by 현자 to work with non-Raspberry Pi PC's
# Cam used: OV9732 Binocular Sync Camera Module, 72 Degree, 1 Million Pixel

import time
import cv2
import os
from datetime import datetime


# File for captured image
filename = './scenes/photo.png'

# Camera settimgs (at 640x240, its default frame rate = 25)
cam_width  = 640  # Width must be dividable by 32
cam_height = 240  # Height must be dividable by 16

print ("Camera Resolution: "+str(cam_width)+" x "+str(cam_height))

# Initialize the camera
camera = cv2.VideoCapture(0)
# Must set camera WORKING camera resolution to get Left/Right side by side
camera.set(cv2.CAP_PROP_FRAME_WIDTH, cam_width)
camera.set(cv2.CAP_PROP_FRAME_HEIGHT, cam_height)

t2 = datetime.now()
counter = 0
avgtime = 0
# Capture frames from the camera
while camera.isOpened():  
    ret, frame = camera.read()
    counter+=1
    t1 = datetime.now()
    timediff = t1-t2
    avgtime = avgtime + (timediff.total_seconds())
    cv2.imshow("Both Eyes", frame)
    key = cv2.waitKey(1) & 0xFF
    t2 = datetime.now()
    # if the `q` key was pressed, break from the loop and save last image
    if key == ord("q") :
        avgtime = avgtime/counter
        print ("Average time between frames: " + str(avgtime))
        print ("Average FPS: " + str(1/avgtime))
        if (os.path.isdir("./scenes")==False):
            os.makedirs("./scenes")
        cv2.imwrite(filename, frame)
        break
   
camera.release()

 바뀐 2_chess_cycle.py

# Copyright (C) 2019 Eugene Pomazov, <stereopi.com>, virt2real team
#
# This file is part of StereoPi tutorial scripts.
#
# StereoPi tutorial is free software: you can redistribute it 
# and/or modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation, either version 3 of the 
# License, or (at your option) any later version.
#
# StereoPi tutorial is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with StereoPi tutorial.  
# If not, see <http://www.gnu.org/licenses/>.
#
# Most of this code is updated version of 3dberry.org project by virt2real
# 
# Thanks to Adrian and http://pyimagesearch.com, as there are lot of
# code in this tutorial was taken from his lessons.
# 
# ================================================
# Modified by 현자 to work with non-Raspberry Pi PC's
# Cam used: OV9732 Binocular Sync Camera Module, 72 Degree, 1 Million Pixel

import os
import time
from datetime import datetime
import cv2
import numpy as np

# Photo session settings
total_photos = 30             # Number of images to take
countdown = 5                 # Interval for count-down timer, seconds
font=cv2.FONT_HERSHEY_SIMPLEX # Cowntdown timer font
 
# Camera settimgs (at 640x240, its default frame rate = 25)
cam_width  = 640  # Width must be dividable by 32
cam_height = 240  # Height must be dividable by 16

#capture = np.zeros((img_height, img_width, 4), dtype=np.uint8)
print ("Final resolution: "+str(cam_width)+" x "+str(cam_height))

# Initialize the camera
camera = cv2.VideoCapture(0)
# Must set camera WORKING camera resolution to get Left/Right side by side
camera.set(cv2.CAP_PROP_FRAME_WIDTH, cam_width)
camera.set(cv2.CAP_PROP_FRAME_HEIGHT, cam_height)

# Lets start taking photos! 
counter = 0
t2 = datetime.now()
print ("Starting photo sequence")
while camera.isOpened():  
   ret, frame = camera.read()
   t1 = datetime.now()
   cntdwn_timer = countdown - int ((t1-t2).total_seconds())
   # If cowntdown is zero - let's record next image
   if cntdwn_timer == -1:
      counter += 1
      filename = './scenes/scene_'+str(cam_width)+'x'+str(cam_height)+'_'+\
                  str(counter) + '.png'
      cv2.imwrite(filename, frame)
      print (' ['+str(counter)+' of '+str(total_photos)+'] '+filename)
      t2 = datetime.now()
      time.sleep(1)
      cntdwn_timer = 0      # To avoid "-1" timer display 
      next
   # Draw cowntdown counter, seconds
   cv2.putText(frame, str(cntdwn_timer), (50,50), font, 2.0, (0,0,255),4, cv2.LINE_AA)
   cv2.imshow("pair", frame)
   key = cv2.waitKey(1) & 0xFF
    
   # Press 'Q' key to quit, or wait till all photos are taken
   if (key == ord("q")) | (counter == total_photos):
      break

 
print ("Photo sequence finished")
camera.release()

아래 화일들은 카메라를 열지 않기때문에 바뀔 필요가 없습니다.

3_pairs_cut.py

4_calibration.py

5_dm_tune.py

바뀐 6_dm_video.py

# Copyright (C) 2019 Eugene Pomazov, <stereopi.com>, virt2real team
#
# This file is part of StereoPi tutorial scripts.
#
# StereoPi tutorial is free software: you can redistribute it 
# and/or modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation, either version 3 of the 
# License, or (at your option) any later version.
#
# StereoPi tutorial is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with StereoPi tutorial.  
# If not, see <http://www.gnu.org/licenses/>.
#
# Most of this code is updated version of 3dberry.org project by virt2real
# 
# Thanks to Adrian and http://pyimagesearch.com, as there are lot of
# code in this tutorial was taken from his lessons.
# 
# ================================================
# Modified by 현자 to work with non-Raspberry Pi PC's
# Cam used: OV9732 Binocular Sync Camera Module, 72 Degree, 1 Million Pixel

import time
import cv2
import numpy as np
import json
from stereovision.calibration import StereoCalibrator
from stereovision.calibration import StereoCalibration
from datetime import datetime

# Depth map default preset
SWS = 5
PFS = 5
PFC = 29
MDS = -30
NOD = 160
TTH = 100
UR = 10
SR = 14
SPWS = 100

# Camera settimgs (at 640x240, its default frame rate = 25)
cam_width  = 640  # Width must be dividable by 32
cam_height = 240  # Height must be dividable by 16

#capture = np.zeros((img_height, img_width, 4), dtype=np.uint8)
print ("Final resolution: "+str(cam_width)+" x "+str(cam_height))

# Initialize the camera
camera = cv2.VideoCapture(0)
# Must set camera WORKING camera resolution to get Left/Right side by side
camera.set(cv2.CAP_PROP_FRAME_WIDTH, cam_width)
camera.set(cv2.CAP_PROP_FRAME_HEIGHT, cam_height)

# Implementing calibration data
print('Read calibration data and rectifying stereo pair...')
calibration = StereoCalibration(input_folder='calib_result')

# Initialize interface windows
cv2.namedWindow("Image")
cv2.moveWindow("Image", 50,100)
cv2.namedWindow("left")
cv2.moveWindow("left", 450,100)
cv2.namedWindow("right")
cv2.moveWindow("right", 850,100)


disparity = np.zeros((cam_width, cam_height), np.uint8)
sbm = cv2.StereoBM_create(numDisparities=0, blockSize=21)

def stereo_depth_map(rectified_pair):
    dmLeft = rectified_pair[0]
    dmRight = rectified_pair[1]
    disparity = sbm.compute(dmLeft, dmRight)
    local_max = disparity.max()
    local_min = disparity.min()
    disparity_grayscale = (disparity-local_min)*(65535.0/(local_max-local_min))
    disparity_fixtype = cv2.convertScaleAbs(disparity_grayscale, alpha=(255.0/65535.0))
    disparity_color = cv2.applyColorMap(disparity_fixtype, cv2.COLORMAP_JET)
    cv2.imshow("Image", disparity_color)
    key = cv2.waitKey(1) & 0xFF   
    if key == ord("q"):
        quit();
    return disparity_color

def load_map_settings( fName ):
    global SWS, PFS, PFC, MDS, NOD, TTH, UR, SR, SPWS, loading_settings
    print('Loading parameters from file...')
    f=open(fName, 'r')
    data = json.load(f)
    SWS=data['SADWindowSize']
    PFS=data['preFilterSize']
    PFC=data['preFilterCap']
    MDS=data['minDisparity']
    NOD=data['numberOfDisparities']
    TTH=data['textureThreshold']
    UR=data['uniquenessRatio']
    SR=data['speckleRange']
    SPWS=data['speckleWindowSize']    
    #sbm.setSADWindowSize(SWS)
    sbm.setPreFilterType(1)
    sbm.setPreFilterSize(PFS)
    sbm.setPreFilterCap(PFC)
    sbm.setMinDisparity(MDS)
    sbm.setNumDisparities(NOD)
    sbm.setTextureThreshold(TTH)
    sbm.setUniquenessRatio(UR)
    sbm.setSpeckleRange(SR)
    sbm.setSpeckleWindowSize(SPWS)
    f.close()
    print ('Parameters loaded from file '+fName)


load_map_settings ("3dmap_set.txt")

# capture frames from the camera
while camera.isOpened():  
    ret, frame = camera.read()
    t1 = datetime.now()
    pair_img = cv2.cvtColor (frame, cv2.COLOR_BGR2GRAY)
    imgLeft = pair_img [0:cam_height,0:int(cam_width/2)] #Y+H and X+W
    imgRight = pair_img [0:cam_height,int(cam_width/2):cam_width] #Y+H and X+W
    rectified_pair = calibration.rectify((imgLeft, imgRight))
    disparity = stereo_depth_map(rectified_pair)
    # show the frame
    cv2.imshow("left", imgLeft)
    cv2.imshow("right", imgRight)    

    t2 = datetime.now()
    print ("DM build time: " + str(t2-t1))

camera.release()