def main_calibration(run):
user_inputs = load_user_inputs('user_inputs.txt')
configs = Configs()
configs.num_cams = user_inputs['num_cams']
# run = 2
if run == 0:
root_path = user_inputs['root_path']
work_path = user_inputs['work_path']
Calibrator.detect_opencv_corners_multiprocess(root_path, work_path,
configs)
elif run == 1:
Calibrator.save_opencv_corners_on_images()
elif run == 2:
# merge detection results into one .txt
# root_path = r'D:\Pictures\2019_12_03_capture'
# output_path = r'D:\Pictures\2019_12_03_capture'
root_path = user_inputs['root_path']
output_path = root_path
Parser.merge_detection_results(root_path, output_path, configs)
elif run == 3:
cam0 = input('Camera start index: ')
cam1 = input('Camera end index: ')
cam_range = (int(cam0), int(cam1))
# root_path = input('Root path (e.g., r"D:/Pictures/2019_12_03_capture/Converted)": ')
root_path = user_inputs['root_path']
# Calibrator.save_ranked_corner_crops(cam_range, root_path)
Calibrator.save_ranked_corner_crops(cam_range, root_path)
elif run == 4:
# root_path = input('Root path (e.g., r"D:/Pictures/2019_12_03_capture/Converted)": ')
root_path = user_inputs['root_path']
Calibrator.determine_corner_outliers(root_path)
elif run == 5:
root_path = user_inputs['root_path']
export = input('\nSave outlier images as well? [y/n]: ')
Calibrator.generate_outliers_txt(root_path, export, configs)
elif run == 6:
configs.num_stereo_imgs = user_inputs['num_stereo_imgs']
configs.center_cam_idx = user_inputs['center_cam_idx']
configs.center_img_name = user_inputs['center_img_name']
configs.num_single_calib_imgs = user_inputs['num_single_calib_imgs']
# root_path = input('Root path (e.g., r"D:/Pictures/2019_12_03_capture"): ')
root_path = user_inputs['root_path']
work_path = user_inputs['work_path']
# if -1: obtain intrinsics for all cameras
# if c > 0: copy&paste intrinsic from given camera index, c.
standard_intrinsics_cam = 0
Calibrator.compute_initial_camera_parameters(root_path, work_path,
standard_intrinsics_cam,
configs)
elif run == 7:
root_path = user_inputs['root_path']
work_path = user_inputs['work_path']
Calibrator.compute_initial_worldpoints_using_PnP(
root_path, work_path, configs)
elif run == 8:
# root_path = input('Root path (e.g., r"D:/Pictures/2019_12_03_capture"): ')
work_path = user_inputs['work_path']
Renderer.render_camera_scene(work_path, configs)
elif run == 9:
root_path = user_inputs['root_path']
Generator.generate_bund_adj_input(root_path, configs)
elif run == 10:
root_path = user_inputs['root_path']
work_path = user_inputs['work_path']
Generator.generate_bund_adj_initial_values_16cams(
root_path, work_path, configs)
elif run == 11:
options = {
'exclude_outliers': True,
'center_region': False,
'frame_range': (0, 4400)
}
root_path = user_inputs['root_path']
work_path = user_inputs['work_path']
Generator.generate_chb_image_points_input(root_path, work_path,
configs, options)
elif run == 12:
# after bundle adjustment
root_path = user_inputs['root_path']
work_path = user_inputs['work_path']
Generator.generate_cam_params_from_bund_adj(root_path, work_path,
configs)
elif run == 13:
work_path = user_inputs['work_path']
cam_param_path = work_path + r'\BundleAdjustment\output\bundle_adjustment_6dof\bundleadjustment_output.txt'
Generator.export_cam_params_to_txt(work_path, configs, cam_param_path)
elif run == 14:
work_path = user_inputs['work_path']
root_path = user_inputs['root_path']
root_root_path = '\\'.join(root_path.split('\\')[0:-1])
input_path = work_path + r'\\Triangulation\input\cam_params.json'
output_path = root_root_path + r'\\CameraParameters'
if not os.path.exists(output_path):
os.mkdir(output_path)
# copy json to output_path
out_shared = output_path + '\\cam_params.json'
out_local = work_path + '\\FinalCamParams\cam_params.json'
shutil.copyfile(input_path, out_shared)
shutil.copyfile(input_path, out_local)
print('1. Saved to: {}'.format(out_local))
print('2. Saved to: {}'.format(out_shared))
output_path += '\\cam_params.txt'
Generator.cam_params_json_to_txt(input_path, output_path, configs)
else:
print("[ERROR] invalid input integer! {}".format(run))
def main_one_stop():
# merge detection results into one .txt
root_path = r'\\DATACHEWER\shareZ\2020_01_01_KateyCapture\Converted'
work_path = r'D:\CalibrationData\CameraCalibration\2020_01_01_KateyCapture'
if not os.path.exists(work_path):
os.mkdir(work_path)
configs = Configs()
configs.num_cams = 16
configs.frame_range = (0, 3060)
configs.cam_range = (0, 15)
Calibrator.detect_opencv_corners_multiprocess(root_path, work_path,
configs)
# run only if a folder name has to be changed
# Parser.change_corner_folder_name(root_path, 'Corners_20200102')
# for visualizing detected corners
# Calibrator.save_opencv_corners_on_images(root_path, work_path, configs)
"""
detection results
"""
Parser.merge_detection_results(root_path, work_path, configs)
# """
# outliers
# """
output_path = work_path + '\\CroppedCorners_2'
if not os.path.exists(output_path):
os.mkdir(output_path)
Calibrator.save_ranked_corner_crops(root_path, output_path, configs)
# Calibrator.determine_corner_outliers(root_path, output_path)
score_thres = 500
Calibrator.generate_outliers_txt(root_path,
work_path,
score_thres,
configs,
export=True)
"""
# initial camera parameters
# """
first_cam_setup = False
if first_cam_setup:
# if -1: obtain intrinsics for all cameras
# if c >= 0: copy&paste intrinsic from given camera index, c.
configs.num_stereo_imgs = 10
configs.center_cam_idx = 0
configs.center_img_name = '0500'
configs.num_single_calib_imgs = 80
standard_intrinsics_cam = 0
Calibrator.compute_initial_camera_parameters(root_path, work_path,
standard_intrinsics_cam,
configs)
else:
from_path = r'D:\CalibrationData\CameraCalibration\191205_16Cams\SingleCalibrations'
to_path = work_path + '\\SingleCalibrations'
if not os.path.exists(to_path):
os.mkdir(to_path)
Calibrator.copy_intial_camera_parameters(from_path, to_path)
"""
Bundle adjustment input
"""
Generator.generate_bund_adj_input(root_path, work_path, configs)
Generator.generate_bund_adj_initial_values_16cams(root_path, work_path,
configs)
options = {'exclude_outliers': True, 'center_region': False}
Generator.generate_chb_image_points_input(root_path, work_path, configs,
options)