def calibrate(self,
fns,
pattern_size,
flag_calib=None,
debug=False,
square_size=1.):
# calibrate camera
images = Images(fns)
self.w, self.h = images.w, images.h
images.pattern_size = pattern_size
obj_pnts, img_pnts = images.find_chess_img_pnts(debug)
print("find points pair: ", len(img_pnts))
flag_calib = cv.CALIB_FIX_K3 + cv.CALIB_ZERO_TANGENT_DIST
rms, matrix, dist, rvecs, tvecs = cv.calibrateCamera(
obj_pnts.transpose(0, 2, 1),
img_pnts.transpose(0, 2, 1), (images.w, images.h),
None,
None,
flags=flag_calib)
self.K = matrix
self.dist = dist
self.rvecs = np.array(rvecs)
self.tvecs = np.array(tvecs)
return obj_pnts, img_pnts, rms
def camera_trianular(fns, K, dist, pattern_size):
images_test = Images(fns)
images_test.pattern_size = pattern_size
obj_pnts, img_pnts = images_test.find_chess_img_pnts()
tripoints3d = triangulation_two(img_pnts, K)
plot_tripoints(tripoints3d)
plt.savefig("../tri.png")
camera_test = Camera((w, h), K, dist)
img_pnts_undistort = camera_test.undistort_points(img_pnts)
tripoints3d = triangulation_two(img_pnts_undistort, K)
plot_tripoints(tripoints3d)
plt.savefig("../tri_undistort.png")
plt.show()
w, h = 1920, 1080
params = read_fs("./datasets/data/image_cap_mono_3m/camera0.yml", "matrix", "dist")
fns = ["./datasets/data/image_cap_mono_3m_test/1582708301.25.png",
"./datasets/data/image_cap_mono_3m_test/1582708321.31.png"]
params = read_fs("./datasets/data/image_cap_mono_33cm/camera.yaml", "matrix", "dist")
fns = ["./datasets/data/image_cap_mono_33cm_test/2.png",
"./datasets/data/image_cap_mono_33cm_test/5.png"]
camera_33 = Camera((w, h), params[0], params[1])
K = params[0]
dist = params[1]
images_test = Images(fns)
images_test.pattern_size = (6, 9)
obj_pnts, img_pnts = images_test.find_chess_img_pnts(True)
tripoints3d = triangulation_two(img_pnts, K, cv.RANSAC, True)
tripoints3d = triangulation_two(img_pnts, K, cv.RANSAC, False)
plot_tripoints(tripoints3d)
# img1 = cv.imread(fns[0], -1)
# img1_un = cv.undistort(img1, camera_33.K, camera_33.dist, None, None)
# img2 = cv.imread(fns[1], -1)
# img2_un = cv.undistort(img2, camera_33.K, camera_33.dist, None, None)
imgs_undistort = camera_33.undistort_imgs(fns)
for i, img in enumerate(imgs_undistort):
name = os.path.basename(fns[i])[:-4]
cv.imwrite("%s_undistort.jpg" %name, img)
_, img_pnts_undistort = images_test.find_chess_img_pnts(True, 1, imgs_undistort)
# tripoints3d = triangulation_two(img_pnts_undistort, K, cv.RANSAC, True)