def detect_chessboard(path, out, pattern, gridSize):
create_chessboard(path, pattern, gridSize)
dataset = ImageFolder(path, annot='chessboard')
dataset.isTmp = False
for i in tqdm(range(len(dataset))):
imgname, annotname = dataset[i]
# detect the 2d chessboard
img = cv2.imread(imgname)
annots = read_json(annotname)
show = findChessboardCorners(img, annots, pattern)
save_json(annotname, annots)
if show is None:
continue
outname = join(out, imgname.replace(path + '/images/', ''))
os.makedirs(os.path.dirname(outname), exist_ok=True)
cv2.imwrite(outname, show)
def detect_chessboard_sequence(path, out, pattern, gridSize, args):
create_chessboard(path, pattern, gridSize, ext=args.ext)
subs = sorted(os.listdir(join(path, 'images')))
for sub in subs:
dataset = ImageFolder(path, sub=sub, annot='chessboard', ext=args.ext)
dataset.isTmp = False
nFrames = len(dataset)
found = np.zeros(nFrames, dtype=np.bool)
visited = np.zeros(nFrames, dtype=np.bool)
proposals = []
init_step = args.max_step
min_step = args.min_step
for nf in range(0, nFrames, init_step):
if nf + init_step < len(dataset):
proposals.append([nf, nf + init_step])
while len(proposals) > 0:
left, right = proposals.pop(0)
print('Check [{}, {}]'.format(left, right))
for nf in [left, right]:
if not visited[nf]:
visited[nf] = True
imgname, annotname = dataset[nf]
# detect the 2d chessboard
img = cv2.imread(imgname)
annots = read_json(annotname)
show = findChessboardCorners(img, annots, pattern)
save_json(annotname, annots)
if show is None:
if args.debug:
print('Cannot find {}'.format(imgname))
found[nf] = False
continue
found[nf] = True
outname = join(out, imgname.replace(path + '/images/', ''))
os.makedirs(os.path.dirname(outname), exist_ok=True)
cv2.imwrite(outname, show)
if not found[left] and not found[right]:
continue
mid = (left + right) // 2
if mid == left or mid == right:
continue
if mid - left > min_step:
proposals.append((left, mid))
if right - mid > min_step:
proposals.append((mid, right))
def create_chessboard(path, pattern, gridSize, ext):
print('Create chessboard {}'.format(pattern))
keypoints3d = getChessboard3d(pattern, gridSize=gridSize)
keypoints2d = np.zeros((keypoints3d.shape[0], 3))
imgnames = getFileList(path, ext=ext)
template = {
'keypoints3d': keypoints3d.tolist(),
'keypoints2d': keypoints2d.tolist(),
'visited': False
}
for imgname in tqdm(imgnames, desc='create template chessboard'):
annname = imgname.replace('images', 'chessboard').replace(ext, '.json')
annname = join(path, annname)
if os.path.exists(annname):
# 覆盖keypoints3d
data = read_json(annname)
data['keypoints3d'] = template['keypoints3d']
save_json(annname, data)
else:
save_json(annname, template)
def detect_chessboard(path, out, pattern, gridSize, args):
create_chessboard(path, pattern, gridSize, ext=args.ext)
dataset = ImageFolder(path, annot='chessboard', ext=args.ext)
dataset.isTmp = False
if args.silent:
trange = range(len(dataset))
else:
trange = tqdm(range(len(dataset)))
for i in trange:
imgname, annotname = dataset[i]
# detect the 2d chessboard
img = cv2.imread(imgname)
annots = read_json(annotname)
show = findChessboardCorners(img, annots, pattern)
save_json(annotname, annots)
if show is None:
if args.debug:
print('Cannot find {}'.format(imgname))
continue
outname = join(out, imgname.replace(path + '/images/', ''))
os.makedirs(os.path.dirname(outname), exist_ok=True)
cv2.imwrite(outname, show)
' '.join(['{:7.2f}'.format(i) for i in row]) for row in annots['K']
]))
return 0
else:
print('K is not caculated')
while annotator.isOpen:
annotator.run()
for key in ['vanish_line', 'vanish_point']:
edges_cache[key] = annotator.param['annots'][key]
if __name__ == "__main__":
from easymocap.annotator import load_parser, parse_parser
parser = load_parser()
parser.add_argument('--skip', action='store_true')
args = parse_parser(parser)
for sub in args.sub:
if False:
from glob import glob
from os.path import join
annnames = sorted(glob(join(args.path, args.annot, sub, '*.json')))
for annname in annnames:
ann = read_json(annname)
for key in ['vanish_line', 'vanish_points']:
if key in ann.keys():
val = ann[key]
val = [val[1], val[0], val[2]]
ann[key] = val
save_annot(annname, ann)
else:
annot_example(args.path, annot=args.annot, sub=sub)