def cli(left_eye, right_eye, output_folder, chessboard_rows, chessboard_columns):
"""
Find chessboard calibration images in both frames of the stereo pair
"""
out_path = Path(output_folder).expanduser()
out_path.mkdir(parents=True, exist_ok=True)
chessboard_size = (chessboard_columns, chessboard_rows)
finder = ChessboardFinder(chessboard_size)
stream = StereoCamera(
left_src=left_eye,
right_src=right_eye,
)
player = VideoPlayer()
with player, stream:
original_writer = get_stereo_writer(stream, file_name="original_stereo.avi")
annotated_writer = get_stereo_writer(stream, file_name="annotated_stereo.avi")
frame_count = 0
good_count = 0
while go():
ok, frames = stream.read()
frame_count += 1
if ok:
good = []
annotated = []
# so we have a good stereo frame, now inspect each frame and if
# a chessboard is found in each, save the pair to disk.
for frame in frames.frames():
labels = [f"Stereo Calibrate {frame_count}"]
display_frame = frame.copy()
height, width, channels = display_frame.shape
has_corners, corners = finder.corners(frame)
if has_corners:
good.append(True)
finder.draw(display_frame, corners)
labels.append("CHESSBOARD")
else:
good.append(False)
labels.append("NO CHESSBOARD FOR YOU")
add_frame_labels(display_frame, labels=labels)
annotated.append(display_frame)
if all(good):
# both frames have verified chessboards save frames for analysis
for side, frame in frames.calibration_named_frames():
cv.imwrite(f"{out_path}/{side}_{good_count:05}.jpg", frame)
good_count += 1
player.show(np.hstack(annotated))
annotated_writer.stereo_write(annotated)
original_writer.stereo_write(frames.frames())
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 find_chessboards_in_stream(source, chessboard_size, out_folder):
# accommodate the types of sources
if source.find("rtsp") >= 0:
source_path = source
else:
try:
source = int(source)
source_path = source
except ValueError:
source_path = str(Path(source).expanduser())
print(source_path)
out_path = Path(out_folder).expanduser()
out_path.mkdir(parents=True, exist_ok=True)
stream = VideoStream(src=source_path)
finder = ChessboardFinder(chessboard_size)
player = VideoPlayer(stream=stream)
with player, stream:
count = 0
while go():
ok, frame = stream.read()
labels = [f"FPS {stream.read.cost:.6f}s"]
if ok:
display_frame = frame.copy()
has_corners, corners = finder.corners(frame)
if has_corners:
cv.imwrite(f"{out_path}/{count:05}.jpg", frame)
count += 1
labels.append("CHESSBOARD")
finder.draw(display_frame, corners)
else:
labels.append("NO CHESSBOARD FOR YOU")
labels.append(
f"find chessboard cost: {finder.has_chessboard.cost:.3f}s")
add_frame_labels(display_frame, labels=labels)
player.show(display_frame)
else:
print("No more frames")
break
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)
def get_frames(chessboards_folder, image_number):
"""get stereo frame pair from chessboard capture folder"""
frames = []
source = Path(chessboards_folder).expanduser()
if not source.exists():
print(f"Source folder {chessboards_folder} does not exist")
sys.exit()
for side in ("left", "right"):
fname = f"{side}_{image_number}.jpg"
file_path = source / Path(fname)
print(f"loading {file_path}")
if not file_path.exists():
print(f"{side} image file {file_path} does not exist")
sys.exit()
img = cv.imread(str(file_path))
img = add_frame_labels(img, labels=[f"{file_path}"])
img = add_reticle(img)
frames.append(img)
return frames