def dewarp(imagedir):
# Loading from json file
C = CameraParams.fromfile(os.path.join(imagedir, "params.json"))
K = C.K
D = C.D
print("Loaded camera parameters from " + os.path.join(imagedir, "params.json"))
for f in file_list(imagedir, ['jpg', 'jpeg', 'png']):
print(f)
colour = cv2.imread(f)
grey = cv2.cvtColor(colour, cv2.COLOR_BGR2GRAY)
h, w = grey.shape[:2]
newcameramtx, roi=cv2.getOptimalNewCameraMatrix(K, D, (w,h), 1, (w,h))
mapx, mapy = cv2.initUndistortRectifyMap(K, D, None, newcameramtx, (w,h), 5)
dewarped = cv2.remap(grey, mapx, mapy, cv2.INTER_LINEAR)
x, y, w, h = roi
dewarped = dewarped[y:y+h, x:x+w]
grey = cv2.resize(grey, (0,0), fx=0.5, fy=0.5)
dewarped = cv2.resize(dewarped, (0,0), fx=0.5, fy=0.5)
cv2.imshow("Original", grey )
cv2.imshow("Dewarped", dewarped)
cv2.waitKey(-1)
def dewarp(imagedir):
# Loading from json file
C = CameraParams.fromfile(os.path.join(imagedir, "params.json"))
K = C.K
D = C.D
print("Loaded camera parameters from " +
os.path.join(imagedir, "params.json"))
for f in file_list(imagedir, ['jpg', 'jpeg', 'png']):
print(f)
colour = cv2.imread(f)
grey = cv2.cvtColor(colour, cv2.COLOR_BGR2GRAY)
h, w = grey.shape[:2]
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(
K, D, (w, h), 1, (w, h))
mapx, mapy = cv2.initUndistortRectifyMap(K, D, None, newcameramtx,
(w, h), 5)
dewarped = cv2.remap(grey, mapx, mapy, cv2.INTER_LINEAR)
x, y, w, h = roi
dewarped = dewarped[y:y + h, x:x + w]
grey = cv2.resize(grey, (0, 0), fx=0.5, fy=0.5)
dewarped = cv2.resize(dewarped, (0, 0), fx=0.5, fy=0.5)
cv2.imshow("Original", grey)
cv2.imshow("Dewarped", dewarped)
cv2.waitKey(-1)
def test_do_calibrate():
dirry = os.path.join('.', 'cuav', 'data', 'ChameleonArecort')
outfile = os.path.join('.', 'cuav', 'data', 'ChameleonArecort', 'paramsout.json')
calibrate.calibrate(dirry, 10, 7)
assert os.path.isfile(outfile)
C = CameraParams.fromfile(outfile)
assert C is not None
os.remove(outfile)
def test_cam_params_txt():
C = CameraParams(lens=4.0, sensorwidth=5.0, xresolution=1280, yresolution=960)
C.setParams([[1, 2, 3], [4, 5, 6]], [0, 6, 7, 8])
C.save('foo.txt')
C2 = CameraParams.fromfile('foo.txt')
assert str(C) == str(C2)
assert numpy.array_equal(C.K, C2.K)
assert numpy.array_equal(C.D, C2.D)
os.remove('foo.txt')
def test_cam_params_txt():
C = CameraParams(lens=4.0,
sensorwidth=5.0,
xresolution=1280,
yresolution=960)
C.setParams([[1, 2, 3], [4, 5, 6]], [0, 6, 7, 8])
C.save('foo.txt')
C2 = CameraParams.fromfile('foo.txt')
assert str(C) == str(C2)
assert numpy.array_equal(C.K, C2.K)
assert numpy.array_equal(C.D, C2.D)
os.remove('foo.txt')
