sksurgeryimage.acquire.stereo_video module

Module for stereo video source acquisition.

class sksurgeryimage.acquire.stereo_video.StereoVideo(layout, channels, dims=None)

Bases: object

Provides a convenient object to manage various stereo input styles. Developed firstly for laparoscopic surgery, but broadly applicable to any stereo setup using our TimestampedVideoSource and VideoSourceWrapper.

Design Principles:

1. Fail early, throwing exceptions for all errors.
2. Works with or without camera parameters.
3. If no camera parameters, calling get_undistorted() or get_rectified() is an Error.

get_images()

Returns the 2 channels, unscaled, as a list of images.

Returns:list of images

get_rectified()

Returns the 2 channels, rectified, as a list of images.

Returns:list of images Raises:ValueError, TypeError - if camera parameters are not set.

get_scaled()

Returns the 2 channels, scaled, as a list of images.

Returns:list of images

get_undistorted()

Returns the 2 channels, undistorted, as a list of images.

Returns:list of images Raises:ValueError - if you haven’t already provided camera parameters

grab()

Asks internal VideoSourceWrapper to grab images.

release()

Asks internal VideoSourceWrapper to release all sources.

retrieve()

Asks internal VideoSourceWrapper to retrieve images.

set_extrinsic_parameters(rotation, translation, dims)

Sets the stereo extrinsic parameters.

Parameters:

• rotation – 3x3 numpy array representing rotation matrix.
• translation – 3x1 numpy array representing translation vector.
• dims – new image size for rectification

Raises:

ValueError, TypeError

set_intrinsic_parameters(camera_matrices, distortion_coefficients)

Sets both sets of intrinsic parameters.

Parameters:

• camera_matrices – list of 2, 3x3 numpy arrays.
• distortion_coefficients – list of 2, 1xN numpy arrays.

Raises:

ValueError, TypeError

class sksurgeryimage.acquire.stereo_video.StereoVideoLayouts

Bases: object

Class to hold some constants, like an enum.

DUAL = 0

INTERLACED = 1

VERTICAL = 2