First edition

First edition of OpenCV examples

1_test.py

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+# 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.
+# 
+
+
+import picamera
+from picamera import PiCamera
+import time
+import cv2
+import numpy as np
+import os
+from datetime import datetime
+
+
+# File for captured image
+filename = './scenes/photo.png'
+
+# Camera settimgs
+cam_width = 1280
+cam_height = 480
+
+# Final image capture settings
+scale_ratio = 0.5
+
+# Camera resolution height must be dividable by 16, and width by 32
+cam_width = int((cam_width+31)/32)*32
+cam_height = int((cam_height+15)/16)*16
+print ("Used camera resolution: "+str(cam_width)+" x "+str(cam_height))
+
+# Buffer for captured image settings
+img_width = int (cam_width * scale_ratio)
+img_height = int (cam_height * scale_ratio)
+capture = np.zeros((img_height, img_width, 4), dtype=np.uint8)
+print ("Scaled image resolution: "+str(img_width)+" x "+str(img_height))
+
+# Initialize the camera
+camera = PiCamera(stereo_mode='side-by-side',stereo_decimate=False)
+camera.resolution=(cam_width, cam_height)
+camera.framerate = 20
+camera.hflip = True
+
+
+t2 = datetime.now()
+counter = 0
+avgtime = 0
+# Capture frames from the camera
+for frame in camera.capture_continuous(capture, format="bgra", use_video_port=True, resize=(img_width,img_height)):
+    counter+=1
+    t1 = datetime.now()
+    timediff = t1-t2
+    avgtime = avgtime + (timediff.total_seconds())
+    cv2.imshow("pair", 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
+
+

2_chess_cycle.py

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+# 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.
+# 
+
+import os
+import time
+from datetime import datetime
+import picamera
+from picamera import PiCamera
+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
+cam_width = 1280              # Cam sensor width settings
+cam_height = 480              # Cam sensor height settings
+
+# Final image capture settings
+scale_ratio = 0.5
+
+# Camera resolution height must be dividable by 16, and width by 32
+cam_width = int((cam_width+31)/32)*32
+cam_height = int((cam_height+15)/16)*16
+print ("Used camera resolution: "+str(cam_width)+" x "+str(cam_height))
+
+# Buffer for captured image settings
+img_width = int (cam_width * scale_ratio)
+img_height = int (cam_height * scale_ratio)
+capture = np.zeros((img_height, img_width, 4), dtype=np.uint8)
+print ("Scaled image resolution: "+str(img_width)+" x "+str(img_height))
+
+# Initialize the camera
+camera = PiCamera(stereo_mode='side-by-side', stereo_decimate=False)
+camera.resolution=(cam_width, cam_height)
+camera.framerate = 20
+camera.hflip = True
+
+# Lets start taking photos! 
+counter = 0
+t2 = datetime.now()
+print ("Starting photo sequence")
+for frame in camera.capture_continuous(capture, format="bgra", \
+                  use_video_port=True, resize=(img_width,img_height)):
+    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(img_width)+'x'+str(img_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")
+

3_pairs_cut.py

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+# 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.
+# 
+
+
+import cv2
+import os
+
+# Global variables preset
+total_photos = 30
+photo_width = 640
+photo_height = 240
+img_height = 240
+img_width = 320
+photo_counter = 0
+
+
+# Main pair cut cycle
+if (os.path.isdir("./pairs")==False):
+    os.makedirs("./pairs")
+while photo_counter != total_photos:
+    photo_counter +=1
+    filename = './scenes/scene_'+str(photo_width)+'x'+str(photo_height)+\
+               '_'+str(photo_counter) + '.png'
+    if os.path.isfile(filename) == False:
+        print ("No file named "+filename)
+        continue
+    pair_img = cv2.imread(filename,-1)
+
+    cv2.imshow("ImagePair", pair_img)
+    cv2.waitKey(0)
+    imgLeft = pair_img [0:img_height,0:img_width] #Y+H and X+W
+    imgRight = pair_img [0:img_height,img_width:photo_width]
+    leftName = './pairs/left_'+str(photo_counter).zfill(2)+'.png'
+    rightName = './pairs/right_'+str(photo_counter).zfill(2)+'.png'
+    cv2.imwrite(leftName, imgLeft)
+    cv2.imwrite(rightName, imgRight)
+    print ('Pair No '+str(photo_counter)+' saved.')
+
+print ('End cycle')

3dmap_set.txt

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+{
+    "SADWindowSize":9,
+    "minDisparity":4,
+    "numberOfDisparities":32,
+    "preFilterCap":27,
+    "preFilterSize":9,
+    "speckleRange":0,
+    "speckleWindowSize":0,
+    "textureThreshold":11,
+    "uniquenessRatio":1
+}

4_calibration.py

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+# 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.
+# 
+
+import os
+import cv2
+import numpy as np
+import json
+from stereovision.calibration import StereoCalibrator
+from stereovision.calibration import StereoCalibration
+from stereovision.exceptions import ChessboardNotFoundError
+
+
+# Global variables preset
+total_photos = 30
+photo_width = 640
+photo_height = 240
+img_width = 320
+img_height = 240
+image_size = (img_width,img_height)
+
+# Chessboard parameters
+rows = 6
+columns = 9
+square_size = 2.5
+
+
+calibrator = StereoCalibrator(rows, columns, square_size, image_size)
+photo_counter = 0
+print ('Start cycle')
+
+while photo_counter != total_photos:
+  photo_counter = photo_counter + 1
+  print ('Import pair No ' + str(photo_counter))
+  leftName = './pairs/left_'+str(photo_counter).zfill(2)+'.png'
+  rightName = './pairs/right_'+str(photo_counter).zfill(2)+'.png'
+  if os.path.isfile(leftName) and os.path.isfile(rightName):
+      imgLeft = cv2.imread(leftName,1)
+      imgRight = cv2.imread(rightName,1)
+      try:
+        calibrator._get_corners(imgLeft)
+        calibrator._get_corners(imgRight)
+      except ChessboardNotFoundError as error:
+        print (error)
+        print ("Pair No "+ str(photo_counter) + " ignored")
+      else:
+        calibrator.add_corners((imgLeft, imgRight), True)
+
+print ('End cycle')
+
+
+print ('Starting calibration... It can take several minutes!')
+calibration = calibrator.calibrate_cameras()
+calibration.export('calib_result')
+print ('Calibration complete!')
+
+
+# Lets rectify and show last pair after  calibration
+calibration = StereoCalibration(input_folder='calib_result')
+rectified_pair = calibration.rectify((imgLeft, imgRight))
+
+cv2.imshow('Left CALIBRATED', rectified_pair[0])
+cv2.imshow('Right CALIBRATED', rectified_pair[1])
+cv2.imwrite("rectifyed_left.jpg",rectified_pair[0])
+cv2.imwrite("rectifyed_right.jpg",rectified_pair[1])
+cv2.waitKey(0)