# filename: camera_configs.py
import cv2
import numpy as np
import pandas as pd
from configparser import ConfigParser
config = ConfigParser()
config.read(r'./config.ini',encoding='utf-8')

path = config['camera_name']['Serial_number'] + '__camera_parameter.xlsx'
df = pd.read_excel(path)

odd_even = 0

x1_l, y1_l = 0, 0
x2_l, y2_l = 0, 0
x1_r, y1_r = 0, 0
x2_r, y2_r = 0, 0

threeD = [0, 0]
disparity_show = [0, 0]

left_camera_matrix = np.array(df.iloc[0:3, 1:4])

left_distortion = np.array([df.iloc[3, 1:6]]).astype(np.float64)

right_camera_matrix = np.array(df.iloc[4:7, 1:4])

right_distortion = np.array([df.iloc[7, 1:6]]).astype(np.float64)

R = np.array(df.iloc[8:11, 1:4])

T = np.array(df.iloc[11, 1:4]).astype(np.float64)

size = (1600, 1200)  # 图像尺寸

# 进行立体更正
R1, R2, P1, P2, Q, validPixROI1, validPixROI2 = cv2.stereoRectify(left_camera_matrix, left_distortion,
                                                                  right_camera_matrix, right_distortion, size, R,
                                                                  T, alpha=-1)
# 计算更正map
left_map1, left_map2 = cv2.initUndistortRectifyMap(left_camera_matrix, left_distortion, R1, P1, size, cv2.CV_16SC2)
right_map1, right_map2 = cv2.initUndistortRectifyMap(right_camera_matrix, right_distortion, R2, P2, size, cv2.CV_16SC2)