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camera_calib.py
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camera_calib.py
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# -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'myqt5.ui'
#
# Created by: PyQt5 UI code generator 5.15.6
#
# WARNING: Any manual changes made to this file will be lost when pyuic5 is
# run again. Do not edit this file unless you know what you are doing.
import json
from functools import partial
import cv2
import numpy as np
import sys
from PyQt5 import QtCore, QtWidgets
from PyQt5.QtCore import Qt, QPoint
from PyQt5.QtWidgets import QLabel, QApplication, QMainWindow
from PyQt5.QtGui import QPixmap, QImage, QPainter, QPen, QPolygon
points1 = []
points2 = []
flag_rgb = False
matrix = None
back_matrix = None
class MyLabel(QLabel):
# 鼠标点击事件
def mousePressEvent(self, event):
# param 表示是否是rgb图片
# points1,points2分别存放rgb和黑外的特征点
if flag_rgb is None:
return
points = points1 if flag_rgb else points2
if event.buttons() == Qt.LeftButton:
points.append([event.x(), event.y()])
print([event.x(), event.y()])
elif event.buttons() == Qt.RightButton:
if len(points) != 0:
points.pop()
# 绘制事件
def paintEvent(self, event):
super().paintEvent(event)
if flag_rgb is None:
return
painter = QPainter(self)
painter.setPen(QPen(Qt.red, 5, Qt.SolidLine))
points = points1 if flag_rgb else points2
box = []
for p in points:
box.append(QPoint(p[0], p[1]))
painter.drawPoint(p[0], p[1])
painter.drawPolygon(QPolygon(box))
# painter.drawPoints(box)
self.update()
class Ui_MainWindow(object):
def __init__(self, rbg_im, ray_im):
self.rgb_img = rbg_im
self.ray_img = ray_im
self.blend_img = None
self.h, self.w = rbg_im.shape[:2]
self.rgb_pixmap = self.opencv2Qimage(rbg_im)
self.ray_pixmap = self.opencv2Qimage(ray_im)
self.blend_pixmap = None
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1080, 720)
MainWindow.setFixedSize(MainWindow.width(), MainWindow.height())
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.frame = QtWidgets.QFrame(self.centralwidget)
self.frame.setGeometry(QtCore.QRect(900, 50, 160, 600))
self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame.setObjectName("frame")
self.frame.setStyleSheet("border: 2px solid gray")
self.rgb_label = QtWidgets.QLabel(self.frame)
self.rgb_label.setGeometry(QtCore.QRect(20, 20, 121, 61))
self.rgb_label.setObjectName("rgb_label")
self.ray_label = QtWidgets.QLabel(self.frame)
self.ray_label.setGeometry(QtCore.QRect(20, 120, 121, 81))
self.ray_label.setObjectName("ray_label")
self.compare_btn = QtWidgets.QPushButton(self.frame)
self.compare_btn.setGeometry(QtCore.QRect(20, 400, 121, 41))
self.compare_btn.setObjectName("compare_btn")
self.compare_btn.clicked.connect(MainWindow.compare)
self.finish_btn = QtWidgets.QPushButton(self.frame)
self.finish_btn.setGeometry(QtCore.QRect(20, 490, 121, 41))
self.finish_btn.setObjectName("finish_btn")
self.blend_label = QtWidgets.QLabel(self.frame)
self.blend_label.setGeometry(QtCore.QRect(20, 240, 121, 81))
self.blend_label.setObjectName("")
self.blend_label.setStyleSheet("border: 2px solid gray")
# self.image = QtWidgets.QLabel(self.centralwidget)
self.image = MyLabel(self.centralwidget)
self.image.setGeometry(QtCore.QRect(40, 50, 800, 600))
self.image.setStyleSheet("border: 2px solid gray")
self.image.setScaledContents(True)
self.image.setText("")
self.image.setObjectName("image")
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def opencv2Qimage(self, img):
height, width = img.shape[:2]
bytesPerLine = 3 * width
cv2.cvtColor(img, cv2.COLOR_BGR2RGB, img)
QImg = QImage(img.data, width, height, bytesPerLine, QImage.Format_RGB888)
pixmap = QPixmap.fromImage(QImg)
return pixmap
def switchImg(self, param):
"""
根据param判断切换什么图片
param ： 0 显示红外图
1 显示rgb图
2 显示融合后的图
"""
global flag_rgb
if param == 0:
flag_rgb = False
self.image.setPixmap(self.ray_pixmap)
elif param == 1:
flag_rgb = True
# self.image.resize(self.w/2*1.5, self.h/2*1.5)
self.image.setPixmap(self.rgb_pixmap)
else:
if self.blend_pixmap is None or flag_rgb is None:
return
flag_rgb = None
self.image.setPixmap(self.blend_pixmap)
def switchImg2rgb(self, param):
global flag_rgb
flag_rgb = True
# self.image.resize(self.w/2*1.5, self.h/2*1.5)
self.image.setPixmap(self.rgb_pixmap)
def switchImg2ray(self, param):
global flag_rgb
flag_rgb = False
# self.image.resize(384*2, 288*2)
self.image.setPixmap(self.ray_pixmap)
def switchImg2blend(self, param):
global flag_rgb
if self.blend_pixmap is None or flag_rgb is None:
return
flag_rgb = None
self.image.setPixmap(self.blend_pixmap)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "红外校准"))
self.rgb_label.setText(_translate("MainWindow", "rgb_img"))
self.rgb_label.setStyleSheet("border: 2px solid gray")
self.rgb_label.setPixmap(self.rgb_pixmap)
self.rgb_label.setScaledContents(True)
self.rgb_label.mousePressEvent = self.switchImg2rgb # 设置图片点击事件 #partial(self.switchImg, 0) #
self.ray_label.setText(_translate("MainWindow", "ray_img"))
self.ray_label.setStyleSheet("border: 2px solid gray")
self.ray_label.setPixmap(self.ray_pixmap)
self.ray_label.setScaledContents(True)
self.ray_label.mousePressEvent = self.switchImg2ray
self.blend_label.setText(_translate("MainWindow", ""))
self.blend_label.mousePressEvent = self.switchImg2ray
self.blend_label.setScaledContents(True)
self.blend_label.mousePressEvent = self.switchImg2blend
self.compare_btn.setText(_translate("MainWindow", "配准"))
self.finish_btn.setText(_translate("MainWindow", "完成"))
class mywindow(QtWidgets.QMainWindow, Ui_MainWindow):
def __init__(self, img1, img2):
super(mywindow, self).__init__(rbg_im=img1, ray_im=img2)
self.setupUi(self)
# 将界面的像素坐标转换成图片实际的像素坐标
def getRealPos(self):
label_width, label_height = self.image.width(), self.image.height()
rgb_height, rgb_width = self.rgb_img.shape[:2]
ray_height, ray_width = self.ray_img.shape[:2]
self.KP1 = np.array(points1) * [rgb_width / label_width, rgb_height / label_height]
self.KP2 = np.array(points2) * [ray_width / label_width, ray_height / label_height]
# 定义按钮绑定函数
def compare(self):
self.getRealPos()
# src表示红外数据上的特征点，dst表示rgb图像上的特征点
src = np.array(self.KP2, dtype=np.float32)
dst = np.array(self.KP1, dtype=np.float32)
# 将红外的特征点绘制在红外的图像上，用于判断校准是否正确
ray_imgc = self.ray_img.copy()
x = np.array(self.KP2, dtype=np.int32)
cv2.polylines(ray_imgc, [x], True, (0, 0, 255), thickness=2)
self.A = cv2.getPerspectiveTransform(src, dst)
# 将rgb图上的点投影到红外图上
self.backproject_A = cv2.getPerspectiveTransform(dst, src)
global matrix, back_matrix
matrix = self.A
back_matrix = self.backproject_A
camera_info = {'matrix': self.A, 'back_matrix': self.backproject_A, 'ray_point': self.KP2}
np.save("./data/camera_matrix.npy", camera_info)
# cc = np.load("data.npy", allow_pickle=True)
# print(cc.item().get("a"))
# print(cc.item().get("b"))
# pp = dst.reshape(1, -1, 2).astype(np.float32)
# pp = cv2.perspectiveTransform(pp, self.backproject_A)
# print(pp)
# raypoint = backproject * rgb_point
img_warp = cv2.warpPerspective(ray_imgc, self.A, (self.w, self.h), borderValue=125)
# newimg = self.rgb_img / 2 + img_warp / 2
newimg = cv2.addWeighted(self.rgb_img, 0.5, img_warp, 0.5, 0)
self.blend_img = np.array(newimg, dtype=np.uint8)
self.blend_pixmap = self.opencv2Qimage(self.blend_img)
self.blend_label.setPixmap(self.blend_pixmap)
def get_matrix(img1, img2):
app = QtWidgets.QApplication(sys.argv)
# img1 = cv2.imread('./data/images/1.png')
# img2 = cv2.imread('./data/images/2.png')
MainWindow = mywindow(img1=img1, img2=img2)
MainWindow.show()
exit(app.exec_())
return matrix, back_matrix
# input rgb pos, output transformed ray pos
# point [[x, y],....] nx2
# 返回类型 numpy[nx2]
# def back_projection(point, back_matrix):
# if type(point) != np.ndarray:
# point = np.array(point)
# point = point.reshape(1, -1, 2).astype(np.float32)
# pp = cv2.perspectiveTransform(point, back_matrix)
# return pp.reshape(-1, 2).astype(np.int)
# # return pp.reshape(-1).astype(np.int).tolist()
# 矩形转成对应的ray的四个点
# input [[x1,y1, x2, y2]...]
# 返回类型 numpy[nx2]
def back_projection(rect_boxes, back_matrix):
ret_points = []
for box in rect_boxes:
x1, y1, x2, y2 = box
ret_points.extend([x1, y1, x2, y1, x2, y2, x1, y2])
if type(ret_points) != np.ndarray:
ret_points = np.array(ret_points)
point = ret_points.reshape(1, -1, 2).astype(np.float32)
pp = cv2.perspectiveTransform(point, back_matrix)
return pp.reshape(-1, 2).astype(np.int)
def load_matrix():
cc = np.load("./data/camera_matrix1.npy", allow_pickle=True)
return cc.item()['matrix'], cc.item()['back_matrix']
# def test(frame, ret_img):
# matrix, back_matrix = load_matrix()
# box = [[20, 40, 800, 600], [300, 400, 400, 500]]
#
# for pp in box:
# cv2.rectangle(frame, (pp[0], pp[1]), (pp[2], pp[3]), (0, 0, 255), thickness=3)
#
# points = box2points(box)
# print(points)
# points = back_projection(points, back_matrix)
# print(points)
#
# x = np.array(points, dtype=np.int32)
# cv2.polylines(ret_img, [x[:4]], True, (0, 0, 255), thickness=2)
# cv2.polylines(ret_img, [x[4:]], True, (0, 0, 255), thickness=2)
#
# cv2.imshow('frame', frame)
# cv2.imshow('ray', ret_img)
# cv2.waitKey(0)
if __name__ == '__main__':
app = QtWidgets.QApplication(sys.argv)
img1 = cv2.imread('./data/images/1.png')
img2 = cv2.imread('./data/images/2.png')
test(img1, img2)
# MainWindow = mywindow(img1=img1, img2=img2)
# MainWindow.show()
# exit(app.exec_())