def preview_charuco():
"""
Display an image until user presses "q" to quit
"""
charuco = charucoBoard.draw(SCREEN_RESOLUTION)
show_fullscreen_image(charuco)
while True:
if cv2.waitKey(1) & 255 == ord(QUIT_KEY):
break
cv2.destroyAllWindows()
def calibrate_camera():
"""
Calibrate our camera
"""
# Display Charuco Calibration Board
charuco = charucoBoard.draw(SCREEN_RESOLUTION)
show_fullscreen_image(charuco)
# Step 1: Initialize Camera
# stream = cv2.VideoCapture(0)
# stream.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
# stream.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
stream = rs.RealSenseCamera()
time.sleep(2)
# Step 2: Identify Charuco Corners and IDs
corners, ids = get_charuco_corners(stream)
# Step 3: Calculate and Save Camera Matrix & Distortion Coefficients
print('Finished collecting data, computing...')
try:
err, camera_matrix, dist_coeffs, _, _ = aruco.calibrateCameraCharuco(
corners, ids, charucoBoard, CAMERA_RESOLUTION, None, None)
print('Calibrated with error: ', err)
save_json({
'camera_matrix': camera_matrix.tolist(),
'dist_coeffs': dist_coeffs.tolist(),
'err': err
})
print('...DONE')
except Exception as e:
print(e)
# Step 4: Generate Undistortion / Rectify Map
camera_matrix, dist_coeffs = load_camera_props(CAMERA_CONFIG_PATH)
mapx, mapy = get_undistort_maps(camera_matrix, dist_coeffs)
# Step 5: Show Calibrated Image
while True:
#cap_success, frame = stream.read()
frame = stream.read_rgb()
frame = undistort_image(frame, mapx, mapy)
cv2.imshow('Calibrated Image', frame)
if cv2.waitKey(1) & 255 == ord('q'):
break
# stream.stop()
cv2.destroyAllWindows()
def calibrate_camera():
"""
Calibrate our Camera
"""
required_count = 50
resolution = (960, 720)
stream = VideoStream(usePiCamera=True, resolution=resolution).start()
time.sleep(2) # Warm up the camera
all_corners = []
all_ids = []
frame_idx = 0
frame_spacing = 5
success = False
calibration_board = charucoBoard.draw((1680, 1050))
show_calibration_frame(calibration_board)
while True:
frame = stream.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
marker_corners, marker_ids, _ = aruco.detectMarkers(
gray,
charucoDictionary,
parameters=detectorParams)
if len(marker_corners) > 0 and frame_idx % frame_spacing == 0:
ret, charuco_corners, charuco_ids = aruco.interpolateCornersCharuco(
marker_corners,
marker_ids,
gray,
charucoBoard
)
if charuco_corners is not None and charuco_ids is not None and len(charuco_corners) > 3:
all_corners.append(charuco_corners)
all_ids.append(charuco_ids)
aruco.drawDetectedMarkers(gray, marker_corners, marker_ids)
if cv2.waitKey(1) & 255 == ord('q'):
break
frame_idx += 1
print("Found: " + str(len(all_ids)) + " / " + str(required_count))
if len(all_ids) >= required_count:
success = True
break
def calibrate_camera(camera_name):
"""
Calibrate our camera
"""
required_count = 50
resolution = (640, 480)
cap = cv2.VideoCapture(0)
#stream = VideoStream(usePiCamera=True, resolution=resolution).start()
#time.sleep(2) # Warm up the camera
all_corners = []
all_ids = []
frame_idx = 0
frame_spacing = 10
success = False
calibration_board = charucoBoard.draw((1680, 1050))
show_calibration_frame(calibration_board)
while True:
ret, frame = cap.read()
#frame = stream.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
marker_corners, marker_ids, _ = aruco.detectMarkers(
gray, charucoDictionary)
if len(marker_corners) > 0 and frame_idx % frame_spacing == 0:
ret, charuco_corners, charuco_ids = aruco.interpolateCornersCharuco(
marker_corners, marker_ids, gray, charucoBoard)
if charuco_corners is not None and charuco_ids is not None and len(
charuco_corners) > 3:
all_corners.append(charuco_corners)
all_ids.append(charuco_ids)
aruco.drawDetectedMarkers(gray, marker_corners, marker_ids)
cv2.imshow(
'frame',
gray) # If we're showing the calibration image, we can't preview
if cv2.waitKey(1) & 255 == ord('q'):
break
frame_idx += 1
print("Found: " + str(len(all_ids)) + " / " + str(required_count))
if len(all_ids) >= required_count:
success = True
break
hide_calibration_frame()
if success:
print('Finished collecting data, computing...')
try:
err, camera_matrix, dist_coeffs, rvecs, tvecs = aruco.calibrateCameraCharuco(
all_corners, all_ids, charucoBoard, resolution, None, None)
print('Calibrated with error: ', err)
save_json(
{
'camera_matrix': camera_matrix.tolist(),
'dist_coeffs': dist_coeffs.tolist(),
'err': err
}, camera_name)
print('...DONE')
except Exception as e:
print(e)
success = False
# Generate the corrections
new_camera_matrix, valid_pix_roi = cv2.getOptimalNewCameraMatrix(
camera_matrix, dist_coeffs, resolution, 0)
mapx, mapy = cv2.initUndistortRectifyMap(camera_matrix, dist_coeffs,
None, new_camera_matrix,
resolution, 5)
while True:
ret, frame = cap.read()
#frame = stream.read()
if mapx is not None and mapy is not None:
frame = cv2.remap(frame, mapx, mapy, cv2.INTER_LINEAR)
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 255 == ord('q'):
break
cap.release()
#stream.stop()
cv2.destroyAllWindows()