def readCalibrationParams(self, path):
parser = JSONParser()
jsonObj = parser.parse(path)
self.calibrationMatrix = np.array(jsonObj['cameraMatrix'],np.float32)
ret, self.inverseCalibrationMatrix = cv2.invert(self.calibrationMatrix)
self.distortCoefs = np.array(jsonObj['distortedCoefficients'], np.float32)
def calibrate(self, confFile, output):
parser = JSONParser()
jsonObj = parser.parseCameraConf(confFile, self.id)
print 'Calibration status: parsing configuration file'
if jsonObj is None:
print 'Wrong conf file'
return None
print 'Calibration status: parsing finished'
patternSize = (jsonObj['patternWidth']-1,jsonObj['patternHeight']-1)
patternPoints = np.zeros((np.prod(patternSize), 3), np.float32)
patternPoints[:, :2] = np.indices(patternSize).T.reshape(-1, 2)
patternPoints *= jsonObj['squareSize']
w, h = self.resolution[0], self.resolution[1]
objPoints = []
imgPoints = []
frameCnt = 0
frameDelay = int((jsonObj['inputDelay']/1000.0)*60)
print 'Calibration status: selecting frames for calibration'
while(1):
ret, frame = self.capture.read()
if (ret is True) and ((frameCnt % frameDelay) == 0):
if(jsonObj['flipAroundHorizontalAxis'] is True):
cv2.flip(frame, 0, frame)
found, corners = cv2.findChessboardCorners(frame,patternSize)
if found:
term = (cv2.TERM_CRITERIA_EPS*cv2.TERM_CRITERIA_COUNT, 30, 0.1)
cvtFrame = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
cv2.cornerSubPix(cvtFrame,corners,(5,5),(-1,-1), term)
else:
continue
imgPoints.append(corners.reshape(-1,2))
objPoints.append(patternPoints)
if(len(imgPoints) == jsonObj['numOfFrames']):
break
frameCnt += 1
print 'Calibration status: frames selected'
print 'Calibration status: started calibration'
rms, cameraMatrix, distCoefs, rvecs, tvecs = cv2.calibrateCamera(objPoints, imgPoints, (int(w), int(h)), self.getFlags(jsonObj), None)
print 'Calibration status: calibration finished'
self.calibrationMatrix = cameraMatrix
ret, self.inverseCalibrationMatrix = cv2.invert(cameraMatrix)
self.distortCoefs = distCoefs
print "Calibration status: writing results to file"
object = {'id':self.id, 'cameraMatrix': cameraMatrix.tolist(), 'distortedCoefficients': distCoefs.tolist()}
jsonObj = json.dumps(object)
parser.writeJSON(jsonObj,output)
print("RMS:", rms)