116 lines
4.6 KiB
Python
116 lines
4.6 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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从 RealSense 相机中获取一帧对齐后的彩色 / 深度图，
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检测棋盘格左上角角点，并反投影到相机坐标系 (m)。
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"""
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import cv2
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import time
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import numpy as np
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import pyrealsense2 as rs
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# ========================= 1. 管线启动 / 关闭 ============================== #
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def start_pipeline(serial: str, depth_size=(640, 480), color_size=(640, 480), fps: int = 30):
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pipeline = rs.pipeline()
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cfg = rs.config()
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cfg.enable_device(serial)
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# 正确的参数顺序: width, height, format, fps
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cfg.enable_stream(rs.stream.depth, depth_size[0], depth_size[1], rs.format.z16, fps)
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cfg.enable_stream(rs.stream.color, color_size[0], color_size[1], rs.format.bgr8, fps)
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pipeline_profile = pipeline.start(cfg)
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depth_intr = pipeline_profile.get_stream(rs.stream.depth).as_video_stream_profile().get_intrinsics()
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align = rs.align(rs.stream.depth)
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return pipeline, align, depth_intr
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def stop_pipeline(pipeline: rs.pipeline):
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pipeline.stop()
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# ========================= 2. 获取对齐后的单帧 ============================ #
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def get_aligned_frames(pipeline: rs.pipeline, align: rs.align, warmup: int = 10, timeout_ms: int = 5000):
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for _ in range(warmup):
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pipeline.wait_for_frames()
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# 等待一帧
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for _ in range(3): # 最多重试 3 次
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try:
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frames = pipeline.wait_for_frames(timeout_ms=timeout_ms)
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aligned = align.process(frames)
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return aligned.get_color_frame(), aligned.get_depth_frame()
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except RuntimeError:
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print("⚠️ 等待帧超时，重试中...")
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time.sleep(1)
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raise RuntimeError("连续超时，无法获取有效帧")
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# ========================= 3. 计算目标 3-D 坐标 =========================== #
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def chessboard_lefttop_position(color_frame, depth_frame, depth_intr, pattern_size=(8, 11), avg_window=3, vis_path=None): # ← 额外参数：保存路径
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"""
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返回左上角角点相机坐标 (X,Y,Z) [m]。
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若 vis_path 不为 None，则在彩色图上标出中心和角点并保存到该路径。
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"""
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color_img = np.asanyarray(color_frame.get_data()).copy()
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gray = cv2.cvtColor(color_img, cv2.COLOR_BGR2GRAY)
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ok, corners = cv2.findChessboardCorners(
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gray, pattern_size,
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flags=cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_NORMALIZE_IMAGE
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)
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if not ok:
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raise RuntimeError("未检测到棋盘格")
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cv2.cornerSubPix(
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gray, corners, winSize=(5, 5), zeroZone=(-1, -1),
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criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-3)
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)
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# --------- 取第 0 个角点像素坐标 ---------
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u, v = corners[0].ravel()
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# --------- 可视化：画中心十字 & 左上角红点 ---------
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if vis_path is not None:
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cx, cy = depth_intr.ppx, depth_intr.ppy # 主点
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cv2.drawMarker(color_img, (int(cx), int(cy)), (0, 255, 0),
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markerType=cv2.MARKER_CROSS, markerSize=20, thickness=2)
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cv2.circle(color_img, (int(u), int(v)), 6, (0, 0, 255), -1)
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cv2.imwrite(vis_path, color_img) # ← 保存文件
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print(f"✓ 已保存标记图到 {vis_path}")
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# … 以下深度中值滤波 + 反投影保持不变 … ----------------------------
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width, height = depth_frame.get_width(), depth_frame.get_height()
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depths = [depth_frame.get_distance(int(round(u + du)), int(round(v + dv)))
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for du in range(-avg_window, avg_window + 1)
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for dv in range(-avg_window, avg_window + 1)
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if 0 <= int(round(u + du)) < width and
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0 <= int(round(v + dv)) < height and
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depth_frame.get_distance(int(round(u + du)), int(round(v + dv))) > 0]
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if not depths:
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raise RuntimeError("角点深度无效")
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depth = float(np.median(depths))
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X, Y, Z = rs.rs2_deproject_pixel_to_point(depth_intr, [u, v], depth)
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return np.array([X, Y, Z], dtype=np.float32)
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# ========================= 4. 主程序入口 ================================= #
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def main(serial="243122075614", pattern_size=(8, 11), avg_window=3):
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pipeline, align, depth_intr = start_pipeline(serial)
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try:
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color_f, depth_f = get_aligned_frames(pipeline, align)
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pos = chessboard_lefttop_position(
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color_f, depth_f, depth_intr,
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pattern_size=pattern_size, avg_window=avg_window,
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vis_path="chessboard_marked.png"
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)
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print("左上角 3-D 坐标 (m):", pos)
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finally:
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stop_pipeline(pipeline)
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if __name__ == "__main__":
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main()
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