声像仪（尝试第二种相机标定的转换，失败，再尝试的话坐标取整试试）

zxw6662

已于 2024-04-10 20:53:37 修改

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文章标签： linux 运维服务器

于 2024-03-19 14:19:22 首次发布

本文链接：https://blog.csdn.net/zxw6662/article/details/136841551

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#尝试第二种方法，论文里的相机标定
#!/usr/bin/env python
#改进后加入摄像头画面，实现声像融合 校正声像仪画面
import math 
import socket
import sys
import threading 
import random
import os 
import time
import struct
import cv2 
import signal 
import json 
import ast 
import numpy as np
 
matrix = np.array([[1150.4796065932892, 0.0, 866.7906072916296],
 
                   [0.0, 1154.5867399421018, 498.44391507650516],
 
                   [0.0, 0.0, 1.0]], dtype=float)
 
 
 
 
 
new_camera_matrix = np.array([[561.1795654296875, 0.0, 854.4371857272781],
 
                             [0.0, 523.6474609375, 371.79368114244426],
 
                             [0.0, 0.0, 1.0]], dtype=float)
 
 
 
dist = np.array([[-0.4210920702510668, 0.2214943232573482, 0.0012200103644413377, 0.001434741235348292, -0.06668565568366154]], dtype=float)
 
cmd ='build/bin/odaslive -c config/usb4.cfg' 
os.system(cmd)
 
stop = False
HOST = "0.0.0.0" 
PORT = 9000 
SOCK_ADDR = (HOST, PORT)
 
 
 
class SocketClientObject(object): 
    def __init__(self, socket, address ):
        self.socket = socket
        self.address = address
 
 
 
class ClientThread(threading.Thread):
    def __init__(self, client_object):
        threading.Thread.__init__(self)
        self.client_object = client_object
 
 
    def run(self):
        global running
        while running == True:
            cap = cv2.VideoCapture(0)
            cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
            cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
 
            while True:
                ret, frame = cap.read()
                frame = cv2.undistort(frame, matrix, dist, new_camera_matrix)
                frame = cv2.resize(frame, (1920, 1080))
                # cv2.imshow('fff', frame)
                # img = np.zeros((800,800,3),np.uint8)
                data = self.client_object.socket.recv(20480)
                data = data.decode("utf-8")
                data = data.replace("\n", "")
                try:
                    src = (data.split('[')[1]).split(']')[0]
                    items = src.split(",        ")
                    target = json.loads(items[0])
                    # print(f'data={data}')
                    # print(f'target={target}')
                    # energy = int(float(target["E"]) * 255)
                    #if (energy > 80):
                    x = float(target["x"])
                    y = -float(target["y"])
                    z = float(target["z"])
                    # 相机坐标系中的点构成的列向量
                    point_c = np.array([[x],
                                        [y],
                                        [z]])
                    # 矩阵乘法得到结果
                    result_matrix = np.dot(new_camera_matrix, point_c)
                    x = result_matrix[0, 0] / z
                    y = result_matrix[1, 0] / z
                    center_x = x                  # 目标映射位置的x轴坐标
                    center_y = y                 # 目标映射位置的y轴坐标
                    energy = int(float(target["E"]) * 255)
                    if (energy > 80):
                        cv2.circle(frame,  (center_x, center_y),  60,  (spectrum_rgb3_lut[255- energy][0], spectrum_rgb3_lut[255- energy][1], spectrum_rgb3_lut[255- energy][2]), -1)
                    cv2.imshow('pu', frame)
                    if cv2.waitKey(1) & 0xFF == ord('q'):
                        break
                except:
                    print ("problem1")
                if cv2.waitKey(1) & 0xFF == ord('q'):
                    break
            cap.release()
            cv2.destroyAllWindows()
        cv2.destroyAllWindows()
        self.client_object.socket.close()
 
 
 
def stop_handler(signum, frame):
    global running
    running = False
 
signal.signal(signal.SIGINT, stop_handler) 
 
 
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	[   0,   0,   0 ], 
	[   0,   0,   3 ], 
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def main():
    global running
    running = True
    try:
        sock1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        sock1.bind(SOCK_ADDR)
        sock1.listen(5)

        while running:
            (clientsocket, address) = sock1.accept()
            print (" Accept client: ", address)
            ct = ClientThread(SocketClientObject(clientsocket, address))
            ct.start()

    except:
           print ("#! EXC: ", sys.exc_info())
           sock1.close()
           print ("THE END! Goodbye!")
 
 
 
 
if __name__ == "__main__":
    main()

#!/bin/bash

# 杀死之前可能仍在运行的程序
pkill -f "python3 test.py"
pkill -f "build/bin/odaslive"

# 启动第一个程序并在后台运行
python3 test.py &
# 等待一段时间，确保第一个程序有足够的时间启动并打开麦克风设备
sleep 5

# 启动第二个程序并在后台运行
build/bin/odaslive -c config/usb4.cfg

#一步启动两个程序，第二次运行可以正常运行，注意文件名地址正确
#启动命令：chmod +x start.sh  先给权限
# ./start.sh 


#!/bin/bash

python3 test.py &

build/bin/odaslive -c config/usb4.cfg


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{ 
   "timeStamp": 1470,    "src": [        { "x": 0.688, "y": -0.053, "z": 0.724, "E": 0.303 },        { "x": 0.607, "y": -0.154, "z": 0.779, "E": 0.233 },        { "x": 0.988, "y": -0.070, "z": 0.140, "E": 0.142 },        { "x": 0.526, "y": -0.724, "z": 0.447, "E": 0.103 }    ]}