def calibrationExample():
camNum =0 # The number of the camera to calibrate
nPoints = 5 # number of images used for the calibration (space presses)
patternSize=(9,6) #size of the calibration pattern
#saveImage = 'calibrationShoots'
#calibrated, camera_matrix,dist_coefs,rms = SIGBTools.calibrateCamera(camNum,nPoints,patternSize,saveImage)
#np.save('PMatrix', camera_matrix)
#np.save('distCoef',dist_coefs)
camera_matrix = np.load('Results/PMatrix.npy')
dist_coefs = np.load('Results/distCoef.npy')
calibrated = True
K = camera_matrix
cam1 = SIGBTools.Camera( np.hstack((K,np.dot(K,np.array([[0],[0],[-1]])) )) )
cam1.factor()
#Factor projection matrix into intrinsic and extrinsic parameters
print "K=",cam1.K
print "R=", cam1.R
print "t",cam1.t
if (calibrated):
capture = cv2.VideoCapture(camNum)
running = True
while running:
running, img =capture.read()
imgGray=cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ch = cv2.waitKey(1)
if(ch==27) or (ch==ord('q')): #ESC
running = False
img=cv2.undistort(img, camera_matrix, dist_coefs )
found,corners=cv2.findChessboardCorners(imgGray, patternSize )
if (found!=0):
cv2.drawChessboardCorners(img, patternSize, corners,found)
cv2.imshow("Calibrated",img)
def AugumentSequence():
#Loading callibration matrix
K = np.load('Results/PMatrix.npy')
#setting pattern size
pattern_size = (9,6)
#loading calibration images
L_CP = cv2.imread('Results/L_CPSeq.jpg') #Frontal view
#Getting cube points from cubePoints.py
cubePoints = cube.cube_points([0,0,0.1],0.1)
#Getting chesscorners for frontal view
Fgray = cv2.cvtColor(L_CP,cv2.COLOR_BGR2GRAY)
Ffound, Fcorners = cv2.findChessboardCorners(Fgray, pattern_size)
FchessCorners = [(Fcorners[0,0,0],Fcorners[0,0,1]),(Fcorners[8,0,0],Fcorners[8,0,1]),(Fcorners[45,0,0],Fcorners[45,0,1]),(Fcorners[53,0,0],Fcorners[53,0,1])]
#To open CV format
FchessCorners = np.array([[x,y] for (x,y) in FchessCorners])
#Getting chesscorners for the sequence images
cap = cv2.VideoCapture(0)
running, I = cap.read()
#Get camera model for first view
cam1 = SIGBTools.Camera(hstack((K,dot(K,array([[0],[0],[-1]])) )) )
#imSize = np.shape(I)
#videoWriter = cv2.VideoWriter("sequence.mp4", cv.FOURCC('D','I','V','X'), 30,(imSize[1], imSize[0]),True)
while(running):
running, I = cap.read()
#converting to gray for better contrast
gray = cv2.cvtColor(I,cv2.COLOR_BGR2GRAY)
found, corners = cv2.findChessboardCorners(gray, pattern_size)
if (found):
#picking utmost corners
IchessCorners = [(corners[0,0,0],corners[0,0,1]),(corners[8,0,0],corners[8,0,1]),(corners[45,0,0],corners[45,0,1]),(corners[53,0,0],corners[53,0,1])]
#To openCV format
IchessCorners = np.array([[x,y] for (x,y) in IchessCorners])
#Find homography between frontal image and current frame
H,mask = cv2.findHomography(FchessCorners, IchessCorners)
#Transofrm camera view
camFrame = SIGBTools.Camera(dot(H,cam1.P))
A = dot(linalg.inv(K),camFrame.P[:,:3])
A = array([A[:,0],A[:,1],cross(A[:,0],A[:,1])]).T
camFrame.P[:,:3] = dot(K,A)
#Get cube projection points
box_peojection = camFrame.project(SIGBTools.toHomogenious(cubePoints))
#Draw box
p = box_peojection
''' Drawing the box manually '''
#bottom
cv2.line(I, (int(p[0][1]), int(p[1][1])), (int(p[0][2]),int(p[1][2])),(255,255,0),2)
cv2.line(I, (int(p[0][2]), int(p[1][2])), (int(p[0][3]),int(p[1][3])),(255,255,0),2)
cv2.line(I, (int(p[0][3]), int(p[1][3])), (int(p[0][4]),int(p[1][4])),(255,255,0),2)
cv2.line(I, (int(p[0][1]), int(p[1][1])), (int(p[0][4]),int(p[1][4])),(255,255,0),2)
#connecting lines
cv2.line(I, (int(p[0][4]), int(p[1][4])), (int(p[0][5]),int(p[1][5])),(255,255,0),2)
cv2.line(I, (int(p[0][1]), int(p[1][1])), (int(p[0][6]),int(p[1][6])),(255,255,0),2)
cv2.line(I, (int(p[0][2]), int(p[1][2])), (int(p[0][7]),int(p[1][7])),(255,255,0),2)
cv2.line(I, (int(p[0][3]), int(p[1][3])), (int(p[0][8]),int(p[1][8])),(255,255,0),2)
#top
cv2.line(I, (int(p[0][5]), int(p[1][5])), (int(p[0][6]),int(p[1][6])),(255,255,0),2)
cv2.line(I, (int(p[0][6]), int(p[1][6])), (int(p[0][7]),int(p[1][7])),(255,255,0),2)
cv2.line(I, (int(p[0][7]), int(p[1][7])), (int(p[0][8]),int(p[1][8])),(255,255,0),2)
cv2.line(I, (int(p[0][8]), int(p[1][8])), (int(p[0][9]),int(p[1][9])),(255,255,0),2)
cv2.imshow('Augumentation',I)
cv2.waitKey(1)
return
def AugumentImages():
#Loading callibration matrix
K = np.load('Results/PMatrix.npy')
#setting pattern size
pattern_size = (9,6)
#loading calibration images
L_CP = cv2.imread('Results/L_CP.jpg') #Frontal view
#Getting cube points from cubePoints.py
cubePoints = cube.cube_points([0,0,0.1],0.1)
I1 = cv2.imread('Results/calibrationShoots1.jpg')
I2 = cv2.imread('Results/calibrationShoots2.jpg')
I3 = cv2.imread('Results/calibrationShoots3.jpg')
I4 = cv2.imread('Results/calibrationShoots4.jpg')
I5 = cv2.imread('Results/calibrationShoots5.jpg')
Images = [I1, I2, I3, I4 ,I5]
ImageH = [] #homographies from frontal view to H respectively
#Getting chesscorners for frontal view
Fgray = cv2.cvtColor(L_CP,cv2.COLOR_BGR2GRAY)
Ffound, Fcorners = cv2.findChessboardCorners(Fgray, pattern_size)
FchessCorners = [(Fcorners[0,0,0],Fcorners[0,0,1]),(Fcorners[8,0,0],Fcorners[8,0,1]),(Fcorners[45,0,0],Fcorners[45,0,1]),(Fcorners[53,0,0],Fcorners[53,0,1])]
#To open CV format
FchessCorners = np.array([[x,y] for (x,y) in FchessCorners])
#Getting chesscorners for the rest of pics
for I in Images:
#converting to gray for better contrast
gray = cv2.cvtColor(I,cv2.COLOR_BGR2GRAY)
#finding all corners on chessboard
found, corners = cv2.findChessboardCorners(gray, pattern_size)
#picking utmost corners
IchessCorners = [(corners[0,0,0],corners[0,0,1]),(corners[8,0,0],corners[8,0,1]),(corners[45,0,0],corners[45,0,1]),(corners[53,0,0],corners[53,0,1])]
#To openCV format
IchessCorners = np.array([[x,y] for (x,y) in IchessCorners])
H,mask = cv2.findHomography(FchessCorners, IchessCorners)
ImageH.append(H)
cam1 = SIGBTools.Camera(hstack((K,dot(K,array([[0],[0],[-1]])) )) )
box_cam1 = cam1.project(SIGBTools.toHomogenious(cubePoints[:,:5]))
cam2 = SIGBTools.Camera(dot(ImageH[3],cam1.P))
A = dot(linalg.inv(K),cam2.P[:,:3])
A = array([A[:,0],A[:,1],cross(A[:,0],A[:,1])]).T
cam2.P[:,:3] = dot(K,A)
box_cam2 = cam2.project(SIGBTools.toHomogenious(cubePoints))
print box_cam2
#figure()
#imshow(I4)
#plot(box_cam2[0,:],box_cam2[1,:],linewidth=3)
#show()
p=box_cam2
''' Drawing the box manually '''
#bottom
cv2.line(I4, (int(p[0][1]), int(p[1][1])), (int(p[0][2]),int(p[1][2])),(255,255,0),2)
cv2.line(I4, (int(p[0][2]), int(p[1][2])), (int(p[0][3]),int(p[1][3])),(255,255,0),2)
cv2.line(I4, (int(p[0][3]), int(p[1][3])), (int(p[0][4]),int(p[1][4])),(255,255,0),2)
cv2.line(I4, (int(p[0][1]), int(p[1][1])), (int(p[0][4]),int(p[1][4])),(255,255,0),2)
#connecting lines
cv2.line(I4, (int(p[0][4]), int(p[1][4])), (int(p[0][5]),int(p[1][5])),(255,255,0),2)
cv2.line(I4, (int(p[0][1]), int(p[1][1])), (int(p[0][6]),int(p[1][6])),(255,255,0),2)
cv2.line(I4, (int(p[0][2]), int(p[1][2])), (int(p[0][7]),int(p[1][7])),(255,255,0),2)
cv2.line(I4, (int(p[0][3]), int(p[1][3])), (int(p[0][8]),int(p[1][8])),(255,255,0),2)
#top
cv2.line(I4, (int(p[0][5]), int(p[1][5])), (int(p[0][6]),int(p[1][6])),(255,255,0),2)
cv2.line(I4, (int(p[0][6]), int(p[1][6])), (int(p[0][7]),int(p[1][7])),(255,255,0),2)
cv2.line(I4, (int(p[0][7]), int(p[1][7])), (int(p[0][8]),int(p[1][8])),(255,255,0),2)
cv2.line(I4, (int(p[0][8]), int(p[1][8])), (int(p[0][9]),int(p[1][9])),(255,255,0),2)
cv2.imshow('Dupa',I4)
cv2.waitKey(10000)
return
