Unwarping.py 文件源码

def __init__(self, x, y, K, d, camid=0, visualize=False, debug=False):

        # Initialize multiprocessing.Process parent
        multiprocessing.Process.__init__(self)

        # Exit event for stopping process
        self._exit = multiprocessing.Event()

        # Event that is set, everytime an image has been unwarped
        self.newframe_event = multiprocessing.Event()

        # Event that pauses the main loop if set
        self._pause_event = multiprocessing.Event()

        # Defines whether to visualize the camera output
        self._visualize = visualize

        # Switches debugging mode
        self._debug = debug

        # Some variable for storing the time of the last frame
        self._oldtime = time.time()

        # Set camera parameters
        self._cam_device_id = camid  # Get camera ID
        self._x = x  # Get width
        self._y = y  # Get height

        # An empty array in shared memory to store the current image frame
        self._currentframe = sharedmem.empty((y, x), dtype='uint8')

        # Define camera matrix K
        self._K = K

        # Define distortion coefficients d
        self._d = d

        # Setup camera object using OpenCV
        self._cam = cv2.VideoCapture(self._cam_device_id)
        self._cam.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, self._x)
        self._cam.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, self._y)

        # Generate optimal camera matrix
        self._newcameramatrix, self._roi = cv2.getOptimalNewCameraMatrix(self._K, self._d, (self._x, self._y), 0)

        # Generate LUTs for undistortion
        self._mapx, self._mapy = cv2.initUndistortRectifyMap(self._K, self._d, None, self._newcameramatrix,
                                                             (self._x, self._y), 5)