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###################################
#####?Authors:????????????????#####
#####?Stephane?Vujasinovic????#####
#####?Frederic?Uhrweiller?????#####?
#####?????????????????????????#####
#####?Creation:?2017??????????#####
###################################


#***********************
#****?Main?Programm?****
#***********************


#?Package?importation
import?numpy?as?np
import?cv2
from?openpyxl?import?Workbook?#?Used?for?writing?data?into?an?Excel?file
from?sklearn.preprocessing?import?normalize

#?Filtering
kernel=?np.ones（（33）np.uint8）

def?coords_mouse_disp（eventxyflagsparam）:
????if?event?==?cv2.EVENT_LBUTTONDBLCLK:
????????#print?xydisp[yx]filteredImg[yx]
????????average=0
????????for?u?in?range?（-12）:
????????????for?v?in?range?（-12）:
????????????????average?+=?disp[y+ux+v]
????????average=average/9
????????Distance=?-593.97*average**（3）?+?1506.8*average**（2）?-?1373.1*average?+?522.06
????????Distance=?np.around（Distance*0.01decimals=2）
????????print（‘Distance:?‘+?str（Distance）+‘?m‘）
????????
#?This?section?has?to?be?uncommented?if?you?want?to?take?mesurements?and?store?them?in?the?excel
##????????ws.append（[counterdist?average]）
##????????print（‘Measure?at?‘+str（counterdist）+‘?cm?the?dispasrity?is?‘?+?str（average））
##????????if?（counterdist?<=?85）:
##????????????counterdist?+=?3
##????????elif（counterdist?<=?120）:
##????????????counterdist?+=?5
##????????else:
##????????????counterdist?+=?10
##????????print（‘Next?distance?to?measure:?‘+str（counterdist）+‘cm‘）

#?Mouseclick?callback
wb=Workbook（）
ws=wb.active??

#*************************************************
#*****?Parameters?for?Distortion?Calibration?*****
#*************************************************

#?Termination?criteria
criteria?=（cv2.TERM_CRITERIA_EPS?+?cv2.TERM_CRITERIA_MAX_ITER?30?0.001）
criteria_stereo=?（cv2.TERM_CRITERIA_EPS?+?cv2.TERM_CRITERIA_MAX_ITER?30?0.001）

#?Prepare?object?points
objp?=?np.zeros（（9*63）?np.float32）
objp[::2]?=?np.mgrid[0:90:6].T.reshape（-12）

#?Arrays?to?store?object?points?and?image?points?from?all?images
objpoints=?[]???#?3d?points?in?real?world?space
imgpointsR=?[]???#?2d?points?in?image?plane
imgpointsL=?[]

#?Start?calibration?from?the?camera
print（‘Starting?calibration?for?the?2?cameras...?‘）
#?Call?all?saved?images
for?i?in?range（067）:???#?Put?the?amount?of?pictures?you?have?taken?for?the?calibration?inbetween?range（0?）?wenn?starting?from?the?image?number?0
????t=?str（i）
????ChessImaR=?cv2.imread（‘chessboard-R‘+t+‘.png‘0）????#?Right?side
????ChessImaL=?cv2.imread（‘chessboard-L‘+t+‘.png‘0）????#?Left?side
????retR?cornersR?=?cv2.findChessboardCorners（ChessImaR
???????????????????????????????????????????????（96）None）??#?Define?the?number?of?chees?corners?we?are?looking?for
????retL?cornersL?=?cv2.findChessboardCorners（ChessImaL
????????????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????10700??2018-09-07?16:05??Stereo-Vision\Main_Stereo_Vision_Prog.py
?????目錄???????????0??2018-09-07?15:53??Stereo-Vision\Stereo-Vision\
?????文件???????10724??2018-09-07?15:58??Stereo-Vision\Stereo-Vision\Main_Stereo_Vision_Prog.py
?????文件????????2815??2018-06-18?00:07??Stereo-Vision\Stereo-Vision\Take_images_for_calibration.py
?????目錄???????????0??2018-09-07?16:05??Stereo-Vision\