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 <[e-mail]>'__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 Singletonfrom 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)@Singletonclass 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