def calibrate(self):
rows = 6
columns = 8
square_size = 3
image_size = (640, 480)
path = 'resources/pictures/calibration_photos/'
right = 'photo_right'
left = 'photo_left'
ext = '.jpg'
calibrator = StereoCalibrator(rows, columns, square_size, image_size)
#print('Start processing')
for i in range(1, 16):
im_path_left = os.path.join(path, left) + str(i) + ext
im_path_right = os.path.join(path, right) + str(i) + ext
if os.path.exists(im_path_left) and os.path.exists(im_path_right):
img_left = cv2.imread(im_path_left)
img_right = cv2.imread(im_path_right)
else:
print(str(i) + ' step failed. Wrong path.')
continue
try:
calibrator._get_corners(img_left)
calibrator._get_corners(img_right)
except ChessboardNotFoundError as error:
print(error)
print("Pair No " + str(i) + " ignored")
else:
calibrator.add_corners((img_left, img_right), True)
print('End processing')
return
def calibration():
calibrator = StereoCalibrator(rows, columns, square_size, image_size)
print('Start processing')
for i in range(1, 16):
im_path_left = os.path.join(path, path2, left) + str(i) + ext
im_path_right = os.path.join(path, path2, right) + str(i) + ext
if os.path.exists(im_path_left) and os.path.exists(im_path_right):
img_left = cv2.imread(im_path_left)
img_right = cv2.imread(im_path_right)
else:
print(str(i) + ' step failed. Wrong path.')
continue
try:
calibrator._get_corners(img_left)
calibrator._get_corners(img_right)
except ChessboardNotFoundError as error:
print(error)
print("Pair No " + str(i) + " ignored")
else:
calibrator.add_corners((img_left, img_right), True)
print('End processing')
calibration = calibrator.calibrate_cameras()
calibration.export('D:\learn\8 sem\diplom\diplom\calib_result')
print('Calibration complete!')
def start_calibration(self):
calibrator = StereoCalibrator(self.rows, self.columns,
self.square_size,
(self.img_width, self.img_height))
photo_counter = 0
print("Start calibration, press any key on image to move to the next")
while photo_counter != self.total_photos:
print('Import pair No ' + str(photo_counter))
leftName = 'capture/pairs/left_' + str(photo_counter).zfill(
2) + '.png'
rightName = 'capture/pairs/right_' + str(photo_counter).zfill(
2) + '.png'
photo_counter = photo_counter + 1
if os.path.isfile(leftName) and os.path.isfile(rightName):
imgLeft = cv2.imread(leftName, 1)
imgRight = cv2.imread(rightName, 1)
try:
calibrator._get_corners(imgLeft)
calibrator._get_corners(imgRight)
except ChessboardNotFoundError as error:
print(error)
print("Pair No " + str(photo_counter) + " ignored")
else:
calibrator.add_corners((imgLeft, imgRight), True)
print('End cycle')
print('Starting calibration... It can take several minutes!')
calibration = calibrator.calibrate_cameras()
calibration.export('calibrate/calib_result')
print('Calibration complete!')
# Lets rectify and show last pair after calibration
calibration = StereoCalibration(input_folder='calibrate/calib_result')
rectified_pair = calibration.rectify((imgLeft, imgRight))
cv2.imshow('Left CALIBRATED', rectified_pair[0])
cv2.imshow('Right CALIBRATED', rectified_pair[1])
cv2.imwrite("calibrate/rectifyed_left.jpg", rectified_pair[0])
cv2.imwrite("calibrate/rectifyed_right.jpg", rectified_pair[1])
cv2.waitKey(0)
square_size = 2.5
calibrator = StereoCalibrator(rows, columns, square_size, image_size)
photo_counter = 0
print('Start cycle')
while photo_counter != total_photos:
photo_counter = photo_counter + 1
print('Import pair No ' + str(photo_counter))
leftName = './pairs/left_' + str(photo_counter).zfill(2) + '.png'
rightName = './pairs/right_' + str(photo_counter).zfill(2) + '.png'
if os.path.isfile(leftName) and os.path.isfile(rightName):
imgLeft = cv2.imread(leftName, 1)
imgRight = cv2.imread(rightName, 1)
try:
calibrator._get_corners(imgLeft)
calibrator._get_corners(imgRight)
except ChessboardNotFoundError as error:
print(error)
print("Pair No " + str(photo_counter) + " ignored")
else:
calibrator.add_corners((imgLeft, imgRight), True)
print('End cycle')
print('Starting calibration... It can take several minutes!')
calibration = calibrator.calibrate_cameras()
calibration.export('calib_result')
print('Calibration complete!')
# Lets rectify and show last pair after calibration
print ("Starting photo sequence")
all_left_corners = np.array([[0, 0]])
all_right_corners = np.array([[0, 0]])
for frame in camera.capture_continuous(capture, format="bgra", \
use_video_port=True, resize=(img_width,img_height)):
t1 = datetime.now()
cntdwn_timer = countdown - int ((t1-t2).total_seconds())
# If cowntdown is zero - let's record next image
if cntdwn_timer <= -1:
## check frame for two boards
imgLeft = frame[0:img_height,0:img_width//2] #Y+H and X+W
imgRight = frame[0:img_height,img_width//2:]
try:
left_corners = np.squeeze(calibrator._get_corners(imgLeft))
right_corners = np.squeeze(calibrator._get_corners(imgRight))
all_left_corners = np.vstack([all_left_corners,
left_corners.astype(int)])
all_right_corners = np.vstack([all_right_corners,
right_corners.astype(int)])
except ChessboardNotFoundError as error:
print (error)
print ("Pair No try again")
t2 = datetime.now()
continue
counter += 1
filename = './scenes/scene_'+str(img_width)+'x'+str(img_height)+'_'+\
str(counter) + '.png'
cv2.imwrite(filename, frame)
