def test_julie():
intr_cam_calib_path = '/home/poine/work/robot_data/julie/julie_short_range_intr.yaml'
extr_cam_calib_path = '/home/poine/work/robot_data/julie/julie_short_range_extr.yaml'
cam = cv_c.load_cam_from_files(intr_cam_calib_path, extr_cam_calib_path)
be = cv_be.BirdEye(cam, BeParamJulie())
plot_bird_eye_2D(be)
plt.show()
img_path = '/home/poine/work/robot_data/julie/julie_extr_calib_1.png'
display_unwarped(be, cam, img_path)
def test_christine():
# load camera intrinsics and extrinsics
intr_cam_calib_path = '/home/poine/.ros/camera_info/christine_camera_road_front.yaml'
extr_cam_calib_path = '/home/poine/work/oscar/oscar/oscar_description/cfg/christine_cam_road_front_extr.yaml'
cam = cv_c.load_cam_from_files(intr_cam_calib_path, extr_cam_calib_path)
be = cv_be.BirdEye(cam, BeParam())
plot_bird_eye_2D(be)
plt.show()
img_path = '/home/poine/work/robot_data/christine/vedrines_track/frame_000000.png'
display_unwarped(be, cam, img_path)
def main(args):
bgr_img = cv2.imread(
'/home/poine/work/smocap/smocap/test/ricou/table_1.png')
gray_img = cv2.cvtColor(bgr_img, cv2.COLOR_BGR2GRAY)
print(gray_img.shape, gray_img.dtype)
intr_cam_calib_path = '/home/poine/.ros/camera_info/ueye_enac_z_2.yaml'
cam = cv_c.load_cam_from_files(intr_cam_calib_path, extr_path=None)
#img2 = cam.undistort_img_map(gray_img)
#img2 = cv2.undistort(img, camera_matrix, dist_coeffs, None, undist_camera_matrix)
blurred_img = cv2.GaussianBlur(gray_img, (9, 9), 0)
ret, threshold = cv2.threshold(blurred_img, 180, 255, cv2.THRESH_BINARY)
cnts, hierarchy = cv2.findContours(threshold, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_TC89_KCOS)
cnt_max = max(cnts, key=cv2.contourArea)
tl, br = np.min(cnt_max, axis=0).squeeze(), np.max(cnt_max,
axis=0).squeeze()
print(tl, br)
cropped_img = blurred_img[tl[1]:br[1] + 1, tl[0]:br[0] + 1]
inv_img = 255 - cropped_img
ret, threshold2 = cv2.threshold(inv_img, 140, 255, cv2.THRESH_BINARY)
cnt_color, cntmax_color, thickness = (255, 0, 0), (0, 255, 0), 3
cv2.circle(bgr_img, tuple(tl), 1, (0, 0, 255), -1)
cv2.circle(bgr_img, tuple(br), 1, (0, 0, 255), -1)
cv2.rectangle(bgr_img, tuple(tl), tuple(br), (0, 0, 255), 1)
cv2.drawContours(bgr_img, cnts, -1, cnt_color, 2)
cv2.drawContours(bgr_img, cnt_max, -1, cntmax_color, 3)
#cv2.imshow('input image', bgr_img)
#cv2.imshow('threshold', threshold)
#cv2.imshow('undistorted image', img2)
cv2.imshow('inv image', threshold2)
cv2.waitKey(0)
cv2.destroyAllWindows()
#!/usr/bin/env python
import numpy as np, cv2, matplotlib.pyplot as plt
import logging
LOG = logging.getLogger('calibrate_intrisinc')
import common_vision.utils as cvu
import common_vision.plot_utils as cvpu
import common_vision.camera as cvc
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
LOG.info(" using opencv version: {}".format(cv2.__version__))
intr_cam_calib_path = '/home/poine/.ros/camera_info/caroline_camera_one.yaml'
#extr_cam_calib_path = '/home/poine/work/oscar/oscar/oscar_description/cfg/{}_cam_road_front_extr.yaml'.format(robot_name)
cam = cvc.load_cam_from_files(intr_cam_calib_path, extr_path=None)
img = cv2.imread(
'/home/poine/work/robot_data/caroline/floor_tiles_ricou_01.png')
#img2 = cam.undistort_img(img)
img2 = cam.undistort_img_map(img)
#img2 = cv2.undistort(img, camera_matrix, dist_coeffs, None, undist_camera_matrix)
cv2.imshow('distorted image', img)
cv2.imshow('undistorted image', img2)
cv2.waitKey(0)
cv2.destroyAllWindows()