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import cv2
import sys
CV_CAP_PROP_BRIGHTNESS=10
CV_CAP_PROP_CONTRAST=11
CV_CAP_PROP_SATURATION=12
CV_CAP_PROP_EXPOSURE=15
CV_CAP_PROP_WHITE_BALANCE=17
## video capture right camera
video_capture0 = cv2.VideoCapture(0)
video_capture0.set(CV_CAP_PROP_BRIGHTNESS,30.0)
video_capture0.set(CV_CAP_PROP_CONTRAST,5.0)
video_capture0.set(CV_CAP_PROP_SATURATION,100.0)
video_capture0.set(CV_CAP_PROP_EXPOSURE,-8.0)
video_capture0.set(CV_CAP_PROP_WHITE_BALANCE,10000.0)
print video_capture0.get(4)
video_capture0.set(3,1920.0) ## horizontal pixels
video_capture0.set(4,1080.0) ## vertical pixels
print video_capture0.get(4) ## check vertical pixel
##video capture left camera
video_capture1 = cv2.VideoCapture(1)
print video_capture1.get(4)
video_capture1.set(3,1920.0)
video_capture1.set(4,1080.0)
print video_capture1.get(4)
print video_capture1.get(9)
video_capture1.set(CV_CAP_PROP_BRIGHTNESS,30.0)
video_capture1.set(CV_CAP_PROP_CONTRAST,5.0)
video_capture1.set(CV_CAP_PROP_SATURATION,100.0)
video_capture1.set(CV_CAP_PROP_EXPOSURE,-8.0)
video_capture1.set(CV_CAP_PROP_WHITE_BALANCE,10000.0)
## camera properties in opencv
##CV_CAP_PROP_FRAME_WIDTH Width of the frames in the video stream.
##CV_CAP_PROP_FRAME_HEIGHT Height of the frames in the video stream.
##CV_CAP_PROP_FPS Frame rate.
##CV_CAP_PROP_FORMAT Format of the Mat objects returned by retrieve() .
##CV_CAP_PROP_MODE Backend-specific value indicating the current capture mode.
##CV_CAP_PROP_BRIGHTNESS Brightness of the image (only for cameras).
##CV_CAP_PROP_CONTRAST Contrast of the image (only for cameras).
##CV_CAP_PROP_SATURATION Saturation of the image (only for cameras).
##CV_CAP_PROP_HUE Hue of the image (only for cameras).
##CV_CAP_PROP_GAIN Gain of the image (only for cameras).
##CV_CAP_PROP_EXPOSURE Exposure (only for cameras).
##CV_CAP_PROP_CONVERT_RGB Boolean flags indicating whether images should be converted to RGB.
##CV_CAP_PROP_WHITE_BALANCE Currently unsupported
##CV_CAP_PROP_RECTIFICATION Rectificat
#show frames from cameras
ret, frame0 = video_capture0.read()
cv2.imshow("cam0", frame0)
ret, frame1 = video_capture1.read()
cv2.imshow("cam1", frame1)
cv2.waitKey(3000)
ret, frame0 = video_capture0.read()
cv2.waitKey(100)
## cv2.imshow("cam0", frame0)
ret, frame1 = video_capture1.read()
cv2.waitKey(100)
cv2.destroyAllWindows()
horzlino=1280
vertlino=720
for ii in range(0,19):
print ii, video_capture1.get(ii)
## open a borderless window for showing projector images as a second display
cv2.namedWindow("Projector Window",cv2.WND_PROP_FULLSCREEN )
cv2.setWindowProperty("Projector Window", 0,1)
cv2.resizeWindow("Projector Window", 1024,768)
cv2.moveWindow("Projector Window", 1025, -2)
## folders for saving images of left and right cameras
import os
try:
os.makedirs(textvalcap+"/"+'CAMR')
except OSError:
pass
try:
os.makedirs(textvalcap+"/"+'CAML')
except OSError:
pass
imggray=np.load('proj.npy')
# Capture images from left and right cameras after showing pattern in projector
for x in range(1, 43): # processing 42 to left and right
cv2.imshow("Projector Window",imggray[:,:,x-1])
filename0 = 'CAMR/CAM0%02d.png'%(x,)
filename1 = 'CAML/CAM1%02d.png'%(x,)
print filename0
ret, frame0 = video_capture0.read()
cv2.waitKey(100)
ret, frame1 = video_capture1.read()
cv2.waitKey(100)
cv2.imwrite(filename0,frame0)
cv2.imwrite(filename1,frame1)
video_capture0.release()
video_capture1.release()
# When everything is done, release the capture
cv2.destroyAllWindows()
print 'pcapture Done!'
========================================================
step 2 : Processing the 42 images of each camera and capture points codes
========================================================
import numpy as np
import cv2
import os
import glob
def imgdesig(img1,img2): #define a function for getting dark and light pattern
old_settings = np.seterr(all='ignore')
img1=cv2.imread(img1,cv2.IMREAD_GRAYSCALE) # 轉成 灰階
ret,img1 = cv2.threshold(img1,10,255,cv2.THRESH_TOZERO) ＃ thr -> 10, max_val -> 255
img2=cv2.imread(img2,cv2.IMREAD_GRAYSCALE) ＃ 轉成 灰階
ret,img2 = cv2.threshold(img2,10,255,cv2.THRESH_TOZERO) # thr -> 10, max_val -> 255
img12=(((img1//2)+(img2//2))) # sum of img1/2 + img2/2
img123=(np.divide(img1,img12))
img123=(np.divide(img123,img123))
return img123 # 會得到 img1 or (img2 + img1)/2 的影像, 而且只有 0和1的影像
# np.divide -> The quotient x1/x2, element-wise. Returns a scalar if both x1 andx2 are scalars
horzlino=1920
vertlino=1080
Direct=captdirect+"/"+"CAMR/"
img_names = glob.glob(Direct+"*.png")
print captdirect
#call for processing the right camera images
execfile("camlcoloc.py")
np.save(Direct+"coloccod" , rightcamcode)
cv2.waitKey(200)
Direct=captdirect+"/"+"CAML/"
img_names = glob.glob(Direct+"*.png")
#call for processing the left camera images
execfile("camlcoloc.py")
np.save(Direct+"coloccod" , rightcamcode)
cv2.destroyAllWindows()
print 'Procimg Done!'
============
camlcoloc.py
============
# horzlino = 1920, vertlino = 1080
grayimg=np.zeros((vertlino, horzlino), dtype=np.int16)
rightcamcode=np.zeros((vertlino, horzlino,2), dtype=np.int16)
##=======================================================
#Horizontal gray code
for ii in range(3,22,2):
#range([start], stop[, step])
#range([start], stop[, step])
start: Starting number of the sequence.stop: Generate numbers up to, but not including this number.step: Difference between each number in the sequence.
xx=ii-3
xx=xx//2
filename1 = img_names[ii]
filename2 = img_names[ii-1]
ff=imgdesig(filename1,filename2) ＃ ff 為 img
print 'processing %s...' % filename1, (2**xx)
grayimg=grayimg+(2**xx)*ff
# 當 xx -> 0 (2**xx) -> 1 3
# 當 xx -> 1 (2**xx) -> 2 5
# 當 xx -> 2 (2**xx) -> 4 7
# 當 xx -> 3 (2**xx) -> 8 9
# 當 xx -> 4 (2**xx) -> 16 11
# 當 xx -> 5 (2**xx) -> 32 13
# 當 xx -> 6 (2**xx) -> 64 15
# 當 xx -> 7 (2**xx) -> 128 17
# 當 xx -> 8 (2**xx) -> 256 19
# 當 xx -> 9 (2**xx) -> 512 21
# 當 xx -> 0 (2**xx) -> 1 3
# 當 xx -> 1 (2**xx) -> 2 5
# 當 xx -> 2 (2**xx) -> 4 7
# 當 xx -> 3 (2**xx) -> 8 9
# 當 xx -> 4 (2**xx) -> 16 11
# 當 xx -> 5 (2**xx) -> 32 13
# 當 xx -> 6 (2**xx) -> 64 15
# 當 xx -> 7 (2**xx) -> 128 17
# 當 xx -> 8 (2**xx) -> 256 19
# 當 xx -> 9 (2**xx) -> 512 21
imgbin3=np.zeros((vertlino, horzlino,3), dtype=np.uint8)
for ii in range(0, horzlino):
for jj in range(0, vertlino):
rightcamcode[jj][ii][0]=grayimg[jj][ii]
imgbin3[jj][ii][1]= grayimg[jj][ii]%256
imgbin3[jj][ii][2]= 40*grayimg[jj][ii]//256
imgbin3[jj][ii][0]= 4
img1=(grayimg%255)
cv2.imshow("PWindow2",imgbin3)
cv2.waitKey(100)
##=======================================================
#Vertical gray code
img1=cv2.imread(img_names[0],cv2.IMREAD_GRAYSCALE)
grayimg=(img1*0)+1023
grayimg=grayimg*0 # 把 grayimg 清除為0
for ii in range(23,42,2):
xx=ii-22
xx=xx//2
filename1 = img_names[ii]
filename2 = img_names[ii-1]
ff=imgdesig(filename1,filename2)
print 'processing %s...' % filename1, (2**xx)
grayimg=grayimg+(2**xx)*ff
for ii in range(0, horzlino):
for jj in range(0, vertlino):
rightcamcode[jj][ii][1]=grayimg[jj][ii]
imgbin3[jj][ii][0]= (imgbin3[jj][ii][0]+grayimg[jj][ii]%256)%256
imgbin3[jj][ii][2]= 40*(imgbin3[jj][ii][2]+grayimg[jj][ii]%256)//80
imgbin3[jj][ii][1]= 4
img1=(grayimg%255)
cv2.imshow("PWindow2",imgbin3)
cv2.waitKey(2000)
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