def decorate_frame(frame, source):
img = add_frame_labels(
frame=frame,
labels=[f"{source}"],
color=colors.get("BHP"),
)
return img
def add_calib_info(camera, img, side):
"""label the corrected frames to aid in diagnostics"""
return add_frame_labels(
frame=img,
labels=calibration_labels(camera.calibration, side),
color=colors.get("BLACK"),
)
def canny(mat):
img = imutils.auto_canny(image=mat, sigma=0.3)
img = add_frame_labels(
frame=img,
labels=[f"canny cost: {canny.cost:6.3f}s"],
color=colors.get("WHITE"),
)
return img
def add_reticle(img):
"""adds markup to frame for warp debug"""
olive = colors.get("OLIVE")
h, w = img.shape[:2]
cx, cy = (int(w / 2), int(h / 2))
center = cx, cy
# circles
for r in range(50, 300, 100):
cv.circle(
img=img,
center=center,
radius=r,
lineType=cv.LINE_8,
color=olive,
thickness=1,
)
# space
for y in range(0, h, int(h / 20)):
cv.line(
img=img,
pt1=(0, y),
pt2=(w, y),
color=olive,
lineType=cv.LINE_4,
thickness=1,
)
if y == cy:
cv.line(
img=img,
pt1=(0, y),
pt2=(w, y),
color=olive,
lineType=cv.LINE_4,
thickness=3,
)
for x in range(0, w, int(w / 20)):
cv.line(
img=img,
pt1=(x, 0),
pt2=(x, h),
color=olive,
lineType=cv.LINE_4,
thickness=1,
)
if x == cx:
cv.line(
img=img,
pt1=(x, 0),
pt2=(x, h),
color=olive,
lineType=cv.LINE_4,
thickness=3,
)
return img
def decorate_frame(frame, side, count, source):
img = add_frame_labels(
frame=frame,
labels=[
f"{side}",
f"{source}",
f"frame # {count}",
],
color=colors.get("BHP"),
)
return img
def size(img):
h, w = img.shape[:2]
img = add_frame_labels(
frame=img,
labels=[
f"size: {w}x{h}",
"Geyser watch",
"q to quit",
],
color=colors.get("GREEN"),
)
return img
def label_frame(camera, frame):
labels = [
f"Reprojected fisheye frame",
f"undistort cost: {camera.correct.cost:6.3f}s",
f"balance: {camera.balance}",
f"cid: {camera.cid} calibrated on {camera.calibration_time_formatted}",
# f'dim2 {dim2}',
# f'dim3 {dim3}',
]
labeled_frame = add_frame_labels(
frame=frame,
labels=labels,
color=colors.get("BHP"),
)
return labeled_frame
def update():
rectified = camera.correct(img)
labels = [
f"Reprojected fisheye frame",
f"undistort cost: {camera.correct.cost:6.3f}s",
f"balance: {camera.balance}",
f"cid: {camera.cid} calibrated on {camera.calibration_time_formatted}",
# f'dim2 {dim2}',
# f'dim3 {dim3}',
]
labeled_frame = add_frame_labels(
frame=rectified,
labels=labels,
color=colors.get("BHP"),
)
cv.imshow(window_name, labeled_frame)
cv.imshow("Raw image", img)
def cli(left_source, right_source, calibration_file, balance):
"""
Displays corrected live stereo video feed from fisheye stereo rig
Visual inspection tool to verify correction works
"""
camera = CalibratedFisheyeCamera(
calibration_file=calibration_file,
balance=balance,
dim2=None,
dim3=None, # remember we have these
)
stream = VideoStream(src=source)
player = VideoPlayer()
with stream, player:
ok, frame = stream.read()
if ok:
camera.set_map(first_frame=frame)
else:
print("Cannot read video feed")
sys.exit(0)
frame_count = 0
while go():
ok, frame = stream.read()
if ok:
frame_count += 1
undistorted_frame = camera.correct(frame)
labels = [
f"Reprojected fisheye frame: {frame_count}",
f"undistort cost: {camera.correct.cost:6.3f}s",
f"balance: {balance}",
f"cid: {camera.cid} calibrated on {camera.calibration_time_formatted}",
# f'dim2 {dim2}',
# f'dim3 {dim3}',
]
labeled_frame = add_frame_labels(
frame=undistorted_frame,
labels=labels,
color=colors.get("BHP"),
)
stack = np.hstack((frame, labeled_frame))
player.show(stack)
def cli(source, calibration_file):
"""Undistort live feed from pinhole model type camera"""
calibration_path = Path(calibration_file).expanduser()
camera = CalibratedPinholeCamera(calibration_file=calibration_path)
stream = VideoFile(src=str(source))
player = VideoPlayer()
with stream, player:
while go():
ok, frame = stream.read()
if ok:
frame = camera.correct(frame)
frame = add_frame_labels(
frame=frame,
labels=[f"undistort cost: {camera.correct.cost:6.3f}s"],
color=colors.get("BHP"),
)
player.show(frame)