立体深度校准更新

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5import numpy as np
6
7device = dai.Device()
8calibration = device.getCalibration()
9pipeline = dai.Pipeline(device)
10monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
11monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
12stereo = pipeline.create(dai.node.StereoDepth)
13
14# Linking
15monoLeftOut = monoLeft.requestFullResolutionOutput()
16monoRightOut = monoRight.requestFullResolutionOutput()
17monoLeftOut.link(stereo.left)
18monoRightOut.link(stereo.right)
19
20stereo.setRectification(True)
21stereo.setExtendedDisparity(True)
22stereo.setLeftRightCheck(True)
23
24rectifiedLeftQueue = stereo.rectifiedLeft.createOutputQueue()
25rectifiedRightQueue = stereo.rectifiedRight.createOutputQueue()
26depthQueue = stereo.depth.createOutputQueue()
27
28with pipeline:
29    pipeline.start()
30    while pipeline.isRunning():
31        leftRectified = rectifiedLeftQueue.get()
32        rightRectified = rectifiedRightQueue.get()
33        depth = depthQueue.get()
34        assert isinstance(leftRectified, dai.ImgFrame)
35        assert isinstance(rightRectified, dai.ImgFrame)
36        assert isinstance(depth, dai.ImgFrame)
37        cv2.imshow("left", leftRectified.getCvFrame())
38        cv2.imshow("right", rightRectified.getCvFrame())
39        colorizedDepth = dai.utility.colorizeDepthFrame(depth).getCvFrame()
40        cv2.imshow("depth", colorizedDepth)
41        key = cv2.waitKey(1)
42        if key == ord('q'):
43            pipeline.stop()
44            break
45        elif key == ord('u'):
46            randomDistortionCoeffs = np.random.rand(14)
47            calibration.setDistortionCoefficients(dai.CameraBoardSocket.CAM_B, randomDistortionCoeffs)
48            calibration.setDistortionCoefficients(dai.CameraBoardSocket.CAM_C, randomDistortionCoeffs)
49            try:
50                device.setCalibration(calibration)
51            except:
52                print("Failed to update calibration!")
53            try:
54                updatedCalib = device.getCalibration()
55                distortionCoeffs = updatedCalib.getDistortionCoefficients(dai.CameraBoardSocket.CAM_C)
56                print("Updated distortion coefficients: ", distortionCoeffs)
57            except:
58                pass