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branch dev tout marche pas, test12 and paramgui

This commit is contained in:
Darren GALLOIS 2023-03-28 16:08:20 +02:00
parent 2c3aee2937
commit f65b4fa45a
2 changed files with 39 additions and 15 deletions
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33
disparityParam_gui.py
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@ -4,29 +4,30 @@ import cv2
# Check for left and right camera IDs # Check for left and right camera IDs
# These values can change depending on the system # These values can change depending on the system
CamL_id = 1# Camera ID for left camera CamL_id = 6# Camera ID for left camera
CamR_id = 5# Camera ID for right camera CamR_id = 8# Camera ID for right camera
CamL= cv2.VideoCapture(CamL_id) CamR= cv2.VideoCapture(CamR_id, cv2.CAP_V4L2)
CamR= cv2.VideoCapture(CamR_id) CamL= cv2.VideoCapture(CamL_id, cv2.CAP_V4L2)
'''
while True:
ret, frame = CamR.read()
if ret:
retL, imgL= CamL.read() codec=CamR.get(cv2.CAP_PROP_FOURCC)
retR, imgR= CamR.read() print("codec: ",codec)
sdfgh
imgR_gray = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY) '''
imgL_gray = cv2.cvtColor(imgL,cv2.COLOR_BGR2GRAY)
print("la c bon")
# Reading the mapping values for stereo image rectification # Reading the mapping values for stereo image rectification
cv_file = cv2.FileStorage("data/params_py.xml", cv2.FILE_STORAGE_READ) cv_file = cv2.FileStorage("data/params_py.xml", cv2.FILE_STORAGE_READ)
Left_Stereo_Map_x = cv_file.getNode("Left_Stereo_Map_x").mat() Left_Stereo_Map_x = cv_file.getNode("Left_Stereo_Map_x").mat()
Left_Stereo_Map_y = cv_file.getNode("Left_Stereo_Map_y").mat() Left_Stereo_Map_y = cv_file.getNode("Left_Stereo_Map_y").mat()
Right_Stereo_Map_x = cv_file.getNode("Right_Stereo_Map_x").mat() Right_Stereo_Map_x = cv_file.getNode("Right_Stereo_Map_x").mat()
Right_Stereo_Map_y = cv_file.getNode("Right_Stereo_Map_y").mat() Right_Stereo_Map_y = cv_file.getNode("Right_Stereo_Map_y").mat()
cv_file.release() cv_file.release()
def nothing(x): def nothing(x):
pass pass
@ -47,12 +48,14 @@ cv2.createTrackbar('minDisparity','disp',5,25,nothing)
# Creating an object of StereoBM algorithm # Creating an object of StereoBM algorithm
stereo = cv2.StereoBM_create() stereo = cv2.StereoBM_create()
while True: while True:
# Capturing and storing left and right camera images # Capturing and storing left and right camera images
retL, imgL= CamL.read() retL, imgL= CamL.read()
retR, imgR= CamR.read() retR, imgR= CamR.read()
waitkey(0)
# Proceed only if the frames have been captured # Proceed only if the frames have been captured
if retL and retR: if retL and retR:
imgR_gray = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY) imgR_gray = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY)
@ -122,7 +125,7 @@ while True:
else: else:
CamL= cv2.VideoCapture(CamL_id) CamL= cv2.VideoCapture(CamL_id)
CamR= cv2.VideoCapture(CamR_id) CamR= cv2.VideoCapture(CamR_id)
waitKey(0)
print("Saving depth estimation paraeters ......") print("Saving depth estimation paraeters ......")
cv_file = cv2.FileStorage("../data/depth_estmation_params_py.xml", cv2.FILE_STORAGE_WRITE) cv_file = cv2.FileStorage("../data/depth_estmation_params_py.xml", cv2.FILE_STORAGE_WRITE)

21
test12.py Normal file
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@ -0,0 +1,21 @@
import cv2
ID1 = 6
ID2 = 8
cam1 = cv2.VideoCapture(ID1, cv2.CAP_V4L2)
cam1.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
cam2 = cv2.VideoCapture(ID2, cv2.CAP_V4L2)
cam2.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
while True:
ret1, frame1 = cam1.read()
ret2, frame2 = cam2.read()
cv2.imshow('Camera 1', frame1)
cv2.imshow('Camera 2', frame2)
if cv2.waitKey(1) == ord('q'):
break
cam1.release()
cam2.release()
cv2.destroyAllWindows()