app_synced.py 文件源码

def load_frame_images(self):
        """
        Load images (or image pairs) from self.full_frame_folder_path
        """
        print("Loading frames from '{0:s}'".format(self.full_frame_folder_path))
        all_files = [f for f in os.listdir(self.full_frame_folder_path)
                     if osp.isfile(osp.join(self.full_frame_folder_path, f)) and f.endswith(".png")]
        all_files.sort()

        usable_frame_ct = sys.maxsize

        frame_number_sets = []

        for video in self.videos:
            # assume matching numbers in corresponding left & right files
            files = [f for f in all_files if f.startswith(video.name)]
            files.sort()  # added to be explicit

            cam_frame_ct = 0
            frame_numbers = []
            for ix_pair in range(len(files)):
                frame = cv2.imread(osp.join(self.full_frame_folder_path, files[ix_pair]))
                frame_number = int(re.search(r'\d\d\d\d', files[ix_pair]).group(0))
                frame_numbers.append(frame_number)
                found, corners = cv2.findChessboardCorners(frame, self.board_dims)
                if not found:
                    raise ValueError("Could not find corners in image '{0:s}'".format(files[ix_pair]))
                grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
                cv2.cornerSubPix(grey, corners, (11, 11), (-1, -1), self.criteria_subpix)
                video.image_points.append(corners)
                video.usable_frames[frame_number] = ix_pair
                cam_frame_ct += 1
            usable_frame_ct = min(usable_frame_ct, cam_frame_ct)
            frame_number_sets.append(frame_numbers)

        if len(self.videos) > 1:
            # check that all cameras have the same frame number sets
            if len(frame_number_sets[0]) != len(frame_number_sets[1]):
                raise ValueError(
                    "There are some non-paired frames in folder '{0:s}'".format(self.full_frame_folder_path))
            for i_fn in range(len(frame_number_sets[0])):
                fn0 = frame_number_sets[0][i_fn]
                fn1 = frame_number_sets[1][i_fn]
                if fn0 != fn1:
                    raise ValueError("There are some non-paired frames in folder '{0:s}'." +
                                     " Check frame {1:d} for camera {2:s} and frame {3:d} for camera {4:s}."
                                     .format(self.full_frame_folder_path,
                                             fn0, self.videos[0].name,
                                             fn1, self.videos[1].name))

        for i_frame in range(usable_frame_ct):
            self.object_points.append(self.board_object_corner_set)
        return usable_frame_ct