Ciclop开源3D扫描仪软件---Horus源码分析之Image

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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 = Falseself.brightness = 0self.contrast = 0self.saturation = 0self.exposure = 0def set_brightness(self, value):##亮度self.brightness = valueif self.selected:self.driver.camera.set_brightness(value)def set_contrast(self, value):##对比度self.contrast = valueif self.selected:self.driver.camera.set_contrast(value)def set_saturation(self, value):##饱和度self.saturation = valueif self.selected:self.driver.camera.set_saturation(value)def set_exposure(self, value):##曝光度self.exposure = valueif 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 = Trueself._mode = self.pattern_modeself._mode.selected = Trueself._remove_background = Trueself._updating = Falseself.use_distortion = Falsedef 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 = textureself._flush_laser = laserself._flush_pattern = patterndef set_flush_stream_values(self, texture, laser, pattern):self._flush_stream_texture = textureself._flush_stream_laser = laserself._flush_stream_pattern = patterndef set_use_distortion(self, value):self.use_distortion = valuedef set_remove_background(self, value):self._remove_background = valuedef set_mode(self, mode):if self._mode is not mode:self._updating = Trueself._mode.selected = Falseself._mode = modeself._mode.selected = Trueself._mode.send_all_settings()self._updating = Falsedef 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_textureelse:flush = self._flush_textureimage = self.capture_image(flush=flush)return imagedef _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_laserelse:flush = self._flush_laserimage = self.capture_image(flush=flush)self.driver.board.laser_off(index)return imagedef capture_laser(self, index):# Capture backgroundimage_background = Noneif self._remove_background:self.driver.board.lasers_off()if self.stream:flush = self._flush_stream_laserelse:flush = self._flush_laserimage_background = self.capture_image(flush=flush)# Capture laserimage = self._capture_laser(index)if image_background is not None:if image is not None:image = cv2.subtract(image, image_background)return imagedef capture_lasers(self):# Capture backgroundimage_background = Noneif self._remove_background:self.driver.board.lasers_off()if self.stream:flush = self._flush_stream_laserelse:flush = self._flush_laserimage_background = self.capture_image(flush=flush)# Capture lasersimages = [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 imagesdef capture_all_lasers(self):image_background = Noneself.set_mode(self.laser_mode)if self.stream:flush = self._flush_stream_laserelse:flush = self._flush_laserif 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 imagedef capture_pattern(self):self.set_mode(self.pattern_mode)if self.stream:flush = self._flush_stream_patternelse:flush = self._flush_patternimage = self.capture_image(flush=flush)return imagedef 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

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