def declare_io(self, p, i, o):
self.gray_image = ecto.Passthrough('gray Input')
self.rgb_image = ecto.Passthrough('rgb Input')
self.camera_info = ecto.Passthrough('K')
self.gather = calib.GatherPoints("gather", N=2)
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
self.quantizer = imgproc.Quantize('Quantizer', alpha=1, beta=0)
self.invert = imgproc.BitwiseNot()
self.debug = p.debug
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
self.cd_bw = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
self.cd_wb = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
self.circle_drawer2 = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
self.fps = highgui.FPSDrawer()
#inputs
i.declare('image', self.gray_image.inputs.at('in'))
i.declare('color_image', self.rgb_image.inputs.at('in'))
i.declare('K', self.camera_info.inputs.at('in'))
#outputs
o.declare('R', self.pose_calc.outputs.at('R'))
o.declare('T', self.pose_calc.outputs.at('T'))
o.declare('found', self.gather.outputs.at('found'))
o.declare('debug_image', self.fps.outputs.at('image'))
def __init__(self,
plasm,
rows,
cols,
pattern_type,
square_size,
debug=True):
ecto.BlackBox.__init__(self, plasm)
self.video_cap = ecto.Passthrough('Image Input')
self.rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
self.circle_detector = calib.PatternDetector('Dot Detector',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.camera_info = calib.CameraIntrinsics('Camera Info',
camera_file="camera.yml")
self.debug = debug
if self.debug:
self.fps = highgui.FPSDrawer()
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=rows,
cols=cols)
self.circle_display = highgui.imshow('Pattern show',
name='Pattern',
waitKey=2,
autoSize=True)
self.pose_draw = calib.PoseDrawer('Pose Draw')
def calibration(rows, cols, square_size, pattern_type, n_obs, video):
plasm = ecto.Plasm()
pattern_show = highgui.imshow(name="pattern", waitKey=10, autoSize=True)
rgb2gray = imgproc.cvtColor(flag=7)
circle_detector = calib.PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size)
ecto.print_module_doc(circle_detector)
circle_drawer = calib.PatternDrawer(rows=rows, cols=cols)
camera_calibrator = calib.CameraCalibrator(output_file_name="camera.yml",
n_obs=n_obs)
plasm.connect(video, "image", rgb2gray, "input")
plasm.connect(rgb2gray, "out", circle_detector, "input")
plasm.connect(video, "image", circle_drawer, "input")
plasm.connect(video, "image", camera_calibrator, "image")
plasm.connect(circle_detector, "out", circle_drawer, "points")
plasm.connect(circle_detector, "found", circle_drawer, "found")
plasm.connect(circle_drawer, "out", pattern_show, "input")
plasm.connect(circle_detector, "ideal", camera_calibrator, "ideal")
plasm.connect(circle_detector, "out", camera_calibrator, "points")
plasm.connect(circle_detector, "found", camera_calibrator, "found")
print plasm.viz()
ecto.view_plasm(plasm)
while (pattern_show.outputs.out != 27
and camera_calibrator.outputs.calibrated == False):
plasm.execute(1)
def __init__(self,
plasm,
rows,
cols,
pattern_type,
square_size,
offset_x=0,
offset_y=0,
offset_z=0,
debug=True):
ecto.BlackBox.__init__(self, plasm)
self.video_cap = ecto.Passthrough('Image Input')
self.camera_info = ecto.Passthrough('K')
self.circle_detector = calib.PatternDetector('Dot Detector',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y,
offset_z=offset_z)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.debug = debug
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=rows,
cols=cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
def declare_cells(p):
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
cells = {
'gray_image': ecto.Passthrough('gray Input'),
'rgb_image': ecto.Passthrough('rgb Input'),
'camera_info': ecto.Passthrough('K_image'),
'gather': calib.GatherPoints("gather", N=2),
'quantizer': imgproc.Quantize('Quantizer', alpha=1, beta=0),
'invert': imgproc.BitwiseNot()
}
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
cells['cd_bw'] = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
cells['cd_wb'] = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
cells['pose_calc'] = calib.FiducialPoseFinder('Pose Calc')
cells['circle_drawer'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['circle_drawer2'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['fps'] = highgui.FPSDrawer()
return cells
def __init__(self,
plasm,
rows,
cols,
pattern_type,
square_size,
debug=True):
ecto.BlackBox.__init__(self, plasm)
self.gray_image = ecto.Passthrough('gray Input')
self.rgb_image = ecto.Passthrough('rgb Input')
self.camera_info = ecto.Passthrough('K')
self.gather = calib.GatherPoints("gather", N=2)
self.invert = imgproc.BitwiseNot()
offset_x = -.310
offset_y = -.101099
self.cd_bw = calib.PatternDetector(
'Dot Detector, B/W',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .150
self.cd_wb = calib.PatternDetector(
'Dot Detector, W/B',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y,
)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=rows,
cols=cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
def __init__(self, plasm):
ecto.BlackBox.__init__(self, plasm)
self.video_cap = highgui.VideoCapture(video_device=0)
self.fps = highgui.FPSDrawer()
self.rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
self.circle_detector = calib.PatternDetector('Dot Detector',
rows=7, cols=3, pattern_type="acircles",
square_size=0.03)
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=7, cols=3)
self.circle_display = highgui.imshow('Pattern show',
name='Pattern', waitKey=2, maximize=True)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.pose_draw = calib.PoseDrawer('Pose Draw')
self.camera_info = calib.CameraIntrinsics('Camera Info', camera_file="camera.yml")
#!/usr/bin/env python
# add pose estimation
import ecto
from ecto_opencv import highgui, calib, imgproc
plasm = ecto.Plasm()
sched = ecto.schedulers.Singlethreaded(plasm)
video_cap = highgui.VideoCapture(video_device=0)
fps = highgui.FPSDrawer()
rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
circle_detector = calib.PatternDetector(rows=7,
cols=3,
pattern_type="acircles",
square_size=0.03)
circle_drawer = calib.PatternDrawer(rows=7, cols=3)
circle_display = highgui.imshow('Pattern show',
name='Pattern',
waitKey=2,
maximize=True)
pose_calc = calib.FiducialPoseFinder('Pose Calc')
pose_draw = calib.PoseDrawer('Pose Draw')
camera_info = calib.CameraIntrinsics('Camera Info', camera_file="camera.yml")
plasm.connect(
video_cap['image'] >> circle_drawer['input'],
#!/bin/python import ecto #import ecto_opencv.cv_bp as opencv from ecto_opencv import highgui, calib, imgproc debug = True plasm = ecto.Plasm() rows = 7 cols = 3 square_size = 0.03 # in millis pattern_show = highgui.imshow(name="pattern", waitKey=10, autoSize=True) rgb2gray = imgproc.cvtColor(flag=7) video = highgui.VideoCapture(video_device=0) circle_detector = calib.PatternDetector(rows=rows, cols=cols, pattern_type="acircles", square_size=square_size) circle_drawer = calib.PatternDrawer(rows=rows, cols=cols) poser = calib.FiducialPoseFinder() pose_drawer = calib.PoseDrawer() camera_intrinsics = calib.CameraIntrinsics(camera_file="camera.yml") plasm.connect(video, "image", rgb2gray, "input") plasm.connect(rgb2gray, "out", circle_detector, "input") plasm.connect(video, "image", circle_drawer, "input") plasm.connect(circle_detector, "out", circle_drawer, "points") plasm.connect(circle_detector, "found", circle_drawer, "found") plasm.connect(camera_intrinsics, "K", poser, "K") plasm.connect(circle_detector, "out", poser, "points") plasm.connect(circle_detector, "ideal", poser, "ideal") plasm.connect(circle_detector, "found", poser, "found")
#!/usr/bin/env python
import ecto
from ecto_opencv import highgui, calib, imgproc
plasm = ecto.Plasm()
sched = ecto.schedulers.Threadpool(plasm)
video_cap = highgui.VideoCapture(video_device=0)
fps = highgui.FPSDrawer()
rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
display_strand = ecto.Strand()
checker_detector = calib.PatternDetector('Checker Detector',
rows=5, cols=4,
pattern_type="chessboard",
square_size=0.03)
circle_detector = calib.PatternDetector('Dot Detector',
rows=7, cols=3, pattern_type="acircles",
square_size=0.03)
circle_drawer = calib.PatternDrawer('Circle Draw',
rows=7, cols=3)
checker_drawer = calib.PatternDrawer('Checker Draw',
rows=5, cols=4)
circle_display = highgui.imshow('Pattern show',
name='Pattern', waitKey= 2, maximize=True,
strand=display_strand)
plasm.connect(video_cap['image'] >> circle_drawer['input'],
circle_drawer['out'] >> checker_drawer['input'],
checker_drawer['out'] >> fps['image'],