horus
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# -*- coding: utf-8 -*-
# This file is part of the horus Project
__author__ = 'Jes煤s Arroyo Torrens <[email protected]>'
__copyright__ = 'Copyright (C) 2014-2016 Mundo Reader S.L.'
__license__ = 'GNU General Public License v2 http://www.gnu.org/licenses/gpl2.html'
import cv2 ##导入OpenCV库存，因为三维扫描需要用到相机内参校正所以要用OPENCV.
from horus import Singleton
from horus.engine.driver.driver import Driver##导入驱动，这个驱动包括软件与硬件的所有引擎。因为本项目##还会有开源硬件。
from horus.engine.calibration.calibration_data import CalibrationData##精度数据校正，这个库主要是对相机##内部畸变参数进行校正。
class Camerasettings(object):
def __init__(self):
self.driver = Driver()
self.selected = False
self.brightness = 0
self.contrast = 0
self.saturation = 0
self.exposure = 0
def set_brightness(self, value):##亮度
self.brightness = value
if self.selected:
self.driver.camera.set_brightness(value)
def set_contrast(self, value):##对比度
self.contrast = value
if self.selected:
self.driver.camera.set_contrast(value)
def set_saturation(self, value):##饱和度
self.saturation = value
if self.selected:
self.driver.camera.set_saturation(value)
def set_exposure(self, value):##曝光度
self.exposure = value
if self.selected:
self.driver.camera.set_exposure(value)
def send_all_settings(self):##图像各项数据发送
self.driver.camera.set_brightness(self.brightness)
self.driver.camera.set_contrast(self.contrast)
self.driver.camera.set_saturation(self.saturation)
self.driver.camera.set_exposure(self.exposure)
@Singleton
class ImageCapture(object):
def __init__(self):
self.driver = Driver()
self.calibration_data = CalibrationData()
self.texture_mode = Camerasettings()
self.laser_mode = CameraSettings()
self.pattern_mode = CameraSettings()
self.stream = True
self._mode = self.pattern_mode
self._mode.selected = True
self._remove_background = True
self._updating = False
self.use_distortion = False
def initialize(self):
self.texture_mode.initialize()
self.laser_mode.initialize()
self.pattern_mode.initialize()
def set_flush_values(self, texture, laser, pattern):
self._flush_texture = texture
self._flush_laser = laser
self._flush_pattern = pattern
def set_flush_stream_values(self, texture, laser, pattern):
self._flush_stream_texture = texture
self._flush_stream_laser = laser
self._flush_stream_pattern = pattern
def set_use_distortion(self, value):
self.use_distortion = value
def set_remove_background(self, value):
self._remove_background = value
def set_mode(self, mode):
if self._mode is not mode:
self._updating = True
self._mode.selected = False
self._mode = mode
self._mode.selected = True
self._mode.send_all_settings()
self._updating = False
def set_mode_texture(self):
self.set_mode(self.texture_mode)
def set_mode_laser(self):
self.set_mode(self.laser_mode)
def set_mode_pattern(self):
self.set_mode(self.pattern_mode)
def flush_texture(self):
self.set_mode_texture()
self.capture_image(flush=0)
def flush_laser(self):
self.set_mode_laser()
self.capture_image(flush=0)
def flush_pattern(self):
self.set_mode_pattern()
self.capture_image(flush=0)
def capture_texture(self):
self.set_mode(self.texture_mode)
if self.stream:
flush = self._flush_stream_texture
else:
flush = self._flush_texture
image = self.capture_image(flush=flush)
return image
def _capture_laser(self, index):
self.set_mode(self.laser_mode)
self.driver.board.lasers_off()
self.driver.board.laser_on(index)
if self.stream:
flush = self._flush_stream_laser
else:
flush = self._flush_laser
image = self.capture_image(flush=flush)
self.driver.board.laser_off(index)
return image
def capture_laser(self, index):
# Capture background
image_background = None
if self._remove_background:
self.driver.board.lasers_off()
if self.stream:
flush = self._flush_stream_laser
else:
flush = self._flush_laser
image_background = self.capture_image(flush=flush)
# Capture laser
image = self._capture_laser(index)
if image_background is not None:
if image is not None:
image = cv2.subtract(image, image_background)
return image
def capture_lasers(self):
# Capture background
image_background = None
if self._remove_background:
self.driver.board.lasers_off()
if self.stream:
flush = self._flush_stream_laser
else:
flush = self._flush_laser
image_background = self.capture_image(flush=flush)
# Capture lasers
images = [None, None]
images[0] = self._capture_laser(0)
images[1] = self._capture_laser(1)
if image_background is not None:
if images[0] is not None:
images[0] = cv2.subtract(images[0], image_background)
if images[1] is not None:
images[1] = cv2.subtract(images[1], image_background)
return images
def capture_all_lasers(self):
image_background = None
self.set_mode(self.laser_mode)
if self.stream:
flush = self._flush_stream_laser
else:
flush = self._flush_laser
if self._remove_background:
self.driver.board.lasers_off()
image_background = self.capture_image(flush=flush)
self.driver.board.lasers_on()
image = self.capture_image(flush=flush)
self.driver.board.lasers_off()
if image_background is not None:
if image is not None and image_background is not None:
image = cv2.subtract(image, image_background)
return image
def capture_pattern(self):
self.set_mode(self.pattern_mode)
if self.stream:
flush = self._flush_stream_pattern
else:
flush = self._flush_pattern
image = self.capture_image(flush=flush)
return image
def capture_image(self, flush=0):
image = self.driver.camera.capture_image(flush=flush)
if self.use_distortion:
if image is not None and \
self.calibration_data.camera_matrix is not None and \
self.calibration_data.distortion_vector is not None and \
self.calibration_data.dist_camera_matrix is not None:
image = cv2.undistort(image,##利用OPENCV内部函数校正数据。
self.calibration_data.camera_matrix,
self.calibration_data.distortion_vector,
None,
self.calibration_data.dist_camera_matrix)
return image
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