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zed_opencv_native.py
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'''
///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2018, STEREOLABS.
//
// All rights reserved.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
///////////////////////////////////////////////////////////////////////////
/*****************************************************************************************
** This sample demonstrates how to capture stereo images and calibration parameters **
** from the ZED camera with OpenCV without using the ZED SDK. **
*****************************************************************************************/
'''
import numpy as np
import os
import configparser
import sys
import cv2
import wget
def download_calibration_file(serial_number) :
if os.name == 'nt' :
hidden_path = os.getenv('APPDATA') + '\\Stereolabs\\settings\\'
else :
hidden_path = '/usr/local/zed/settings/'
calibration_file = hidden_path + 'SN' + str(serial_number) + '.conf'
if os.path.isfile(calibration_file) == False:
url = 'http://calib.stereolabs.com/?SN='
filename = wget.download(url=url+str(serial_number), out=calibration_file)
if os.path.isfile(calibration_file) == False:
print('Invalid Calibration File')
return ""
return calibration_file
def init_calibration(calibration_file, image_size) :
cameraMarix_left = cameraMatrix_right = map_left_y = map_left_x = map_right_y = map_right_x = np.array([])
config = configparser.ConfigParser()
config.read(calibration_file)
check_data = True
resolution_str = ''
if image_size.width == 2208 :
resolution_str = '2K'
elif image_size.width == 1920 :
resolution_str = 'FHD'
elif image_size.width == 1280 :
resolution_str = 'HD'
elif image_size.width == 672 :
resolution_str = 'VGA'
else:
resolution_str = 'HD'
check_data = False
T_ = np.array([-float(config['STEREO']['Baseline'] if 'Baseline' in config['STEREO'] else 0),
float(config['STEREO']['TY_'+resolution_str] if 'TY_'+resolution_str in config['STEREO'] else 0),
float(config['STEREO']['TZ_'+resolution_str] if 'TZ_'+resolution_str in config['STEREO'] else 0)])
left_cam_cx = float(config['LEFT_CAM_'+resolution_str]['cx'] if 'cx' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_cy = float(config['LEFT_CAM_'+resolution_str]['cy'] if 'cy' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_fx = float(config['LEFT_CAM_'+resolution_str]['fx'] if 'fx' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_fy = float(config['LEFT_CAM_'+resolution_str]['fy'] if 'fy' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_k1 = float(config['LEFT_CAM_'+resolution_str]['k1'] if 'k1' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_k2 = float(config['LEFT_CAM_'+resolution_str]['k2'] if 'k2' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_p1 = float(config['LEFT_CAM_'+resolution_str]['p1'] if 'p1' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_p2 = float(config['LEFT_CAM_'+resolution_str]['p2'] if 'p2' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_p3 = float(config['LEFT_CAM_'+resolution_str]['p3'] if 'p3' in config['LEFT_CAM_'+resolution_str] else 0)
left_cam_k3 = float(config['LEFT_CAM_'+resolution_str]['k3'] if 'k3' in config['LEFT_CAM_'+resolution_str] else 0)
right_cam_cx = float(config['RIGHT_CAM_'+resolution_str]['cx'] if 'cx' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_cy = float(config['RIGHT_CAM_'+resolution_str]['cy'] if 'cy' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_fx = float(config['RIGHT_CAM_'+resolution_str]['fx'] if 'fx' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_fy = float(config['RIGHT_CAM_'+resolution_str]['fy'] if 'fy' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_k1 = float(config['RIGHT_CAM_'+resolution_str]['k1'] if 'k1' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_k2 = float(config['RIGHT_CAM_'+resolution_str]['k2'] if 'k2' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_p1 = float(config['RIGHT_CAM_'+resolution_str]['p1'] if 'p1' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_p2 = float(config['RIGHT_CAM_'+resolution_str]['p2'] if 'p2' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_p3 = float(config['RIGHT_CAM_'+resolution_str]['p3'] if 'p3' in config['RIGHT_CAM_'+resolution_str] else 0)
right_cam_k3 = float(config['RIGHT_CAM_'+resolution_str]['k3'] if 'k3' in config['RIGHT_CAM_'+resolution_str] else 0)
R_zed = np.array([float(config['STEREO']['RX_'+resolution_str] if 'RX_' + resolution_str in config['STEREO'] else 0),
float(config['STEREO']['CV_'+resolution_str] if 'CV_' + resolution_str in config['STEREO'] else 0),
float(config['STEREO']['RZ_'+resolution_str] if 'RZ_' + resolution_str in config['STEREO'] else 0)])
R, _ = cv2.Rodrigues(R_zed)
cameraMatrix_left = np.array([[left_cam_fx, 0, left_cam_cx],
[0, left_cam_fy, left_cam_cy],
[0, 0, 1]])
cameraMatrix_right = np.array([[right_cam_fx, 0, right_cam_cx],
[0, right_cam_fy, right_cam_cy],
[0, 0, 1]])
distCoeffs_left = np.array([[left_cam_k1], [left_cam_k2], [left_cam_p1], [left_cam_p2], [left_cam_k3]])
distCoeffs_right = np.array([[right_cam_k1], [right_cam_k2], [right_cam_p1], [right_cam_p2], [right_cam_k3]])
T = np.array([[T_[0]], [T_[1]], [T_[2]]])
R1 = R2 = P1 = P2 = np.array([])
R1, R2, P1, P2 = cv2.stereoRectify(cameraMatrix1=cameraMatrix_left,
cameraMatrix2=cameraMatrix_right,
distCoeffs1=distCoeffs_left,
distCoeffs2=distCoeffs_right,
R=R, T=T,
flags=cv2.CALIB_ZERO_DISPARITY,
alpha=0,
imageSize=(image_size.width, image_size.height),
newImageSize=(image_size.width, image_size.height))[0:4]
map_left_x, map_left_y = cv2.initUndistortRectifyMap(cameraMatrix_left, distCoeffs_left, R1, P1, (image_size.width, image_size.height), cv2.CV_32FC1)
map_right_x, map_right_y = cv2.initUndistortRectifyMap(cameraMatrix_right, distCoeffs_right, R2, P2, (image_size.width, image_size.height), cv2.CV_32FC1)
cameraMatrix_left = P1
cameraMatrix_right = P2
return cameraMatrix_left, cameraMatrix_right, map_left_x, map_left_y, map_right_x, map_right_y
class Resolution :
width = 1280
height = 720
def main() :
if len(sys.argv) == 1 :
print('Please provide ZED serial number')
exit(1)
# Open the ZED camera
cap = cv2.VideoCapture(0)
if cap.isOpened() == 0:
exit(-1)
image_size = Resolution()
image_size.width = 1280
image_size.height = 720
# Set the video resolution to HD720
cap.set(cv2.CAP_PROP_FRAME_WIDTH, image_size.width*2)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, image_size.height)
serial_number = int(sys.argv[1])
calibration_file = download_calibration_file(serial_number)
if calibration_file == "":
exit(1)
print("Calibration file found. Loading...")
camera_matrix_left, camera_matrix_right, map_left_x, map_left_y, map_right_x, map_right_y = init_calibration(calibration_file, image_size)
while True :
# Get a new frame from camera
retval, frame = cap.read()
# Extract left and right images from side-by-side
left_right_image = np.split(frame, 2, axis=1)
# Display images
cv2.imshow("left RAW", left_right_image[0])
left_rect = cv2.remap(left_right_image[0], map_left_x, map_left_y, interpolation=cv2.INTER_LINEAR)
right_rect = cv2.remap(left_right_image[1], map_right_x, map_right_y, interpolation=cv2.INTER_LINEAR)
cv2.imshow("left RECT", left_rect)
cv2.imshow("right RECT", right_rect)
if cv2.waitKey(30) >= 0 :
break
exit(0)
if __name__ == "__main__":
main()