Ciclop开源3D扫描仪软件---Horus源码分析之Image_capture.py

 
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# -*- coding: utf-8 -*-
# This file is part of the Horus Project

__author__ = 'Jes煤s Arroyo Torrens <jesus.arroyo@bq.com>'
__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