def collectCheckboardPoints(self):
self.pointsArray1 = np.zeros((nimages, num_pts, 2))
self.pointsArray2 = np.zeros((nimages, num_pts, 2))
cv.NamedWindow("camera")
cv.NamedWindow("camera2")
i = 0
while True :
frame = cv.QueryFrame(self.video1)
# print type(frame)
# [rows1, cols] = cv.GetSize(frame)
image = cv.CreateImage(cv.GetSize(frame), cv.IPL_DEPTH_8U, frame.nChannels)
cv.Copy(frame, image)
cv.ShowImage("camera", frame)
grayScaleFullImage = cv.CreateImage((image.width, image.height), 8, 1)
cv.CvtColor(image, grayScaleFullImage, cv.CV_BGR2GRAY)
frame2 = cv.QueryFrame(self.video2)
image2 = cv.CreateImage(cv.GetSize(frame2), cv.IPL_DEPTH_8U, frame2.nChannels)
cv.Copy(frame2, image2)
cv.ShowImage("camera2", frame2)
grayScaleFullImage2 = cv.CreateImage((image2.width, image2.height), 8, 1)
cv.CvtColor(image2, grayScaleFullImage2, cv.CV_BGR2GRAY)
found, points = cv.FindChessboardCorners(grayScaleFullImage, dims, cv.CV_CALIB_CB_ADAPTIVE_THRESH)
if found != 0:
print "found chess board " + str(np.shape(points))
cv.DrawChessboardCorners(image, dims, points, found)
cv.ShowImage("win2", image)
cv.WaitKey(2)
# else:
# print "no chess"
found2, points2 = cv.FindChessboardCorners(grayScaleFullImage2, dims, cv.CV_CALIB_CB_ADAPTIVE_THRESH)
if found2 != 0:
print "found chess board2"
cv.DrawChessboardCorners(image2, dims, points2, found2)
cv.ShowImage("win3", image2)
cv.WaitKey(2)
if found and found2:
print "entered here!!!!!"
self.pointsArray1[i, :] = points
self.pointsArray2[i, :] = points2
i = i + 1
if i == nimages:
self.size = cv.GetSize(image)
break
if cv.WaitKey(10) == 27:
break
cv.DestroyWindow("Camera 1")
cv.DestroyWindow("Camera 2")
def handle_msg(self, msg):
"""
Detects the calibration target and, if found and provides enough new information,
adds it to the sample database.
Returns a MonoDrawable message with the display image and progress info.
"""
rgb = self.mkgray(msg)
linear_error = -1
# Get display-image-to-be (scrib) and detection of the calibration target
scrib, corners, downsampled_corners, board, (
x_scale, y_scale) = self.downsample_and_detect(rgb)
if self.calibrated:
# Show rectified image
# TODO Pull out downsampling code into function
if x_scale != 1.0 or y_scale != 1.0:
rgb_rect = self.remap(rgb)
cv.Resize(rgb_rect, scrib)
else:
scrib = self.remap(rgb)
if corners:
# Report linear error
src = self.mk_image_points([(corners, board)])
undistorted = list(cvmat_iterator(self.undistort_points(src)))
linear_error = self.linear_error(undistorted, board)
# Draw rectified corners
scrib_src = [(x / x_scale, y / y_scale)
for (x, y) in undistorted]
cv.DrawChessboardCorners(scrib, (board.n_cols, board.n_rows),
scrib_src, True)
elif corners:
# Draw (potentially downsampled) corners onto display image
src = self.mk_image_points([(downsampled_corners, board)])
cv.DrawChessboardCorners(scrib, (board.n_cols, board.n_rows),
cvmat_iterator(src), True)
# Add sample to database only if it's sufficiently different from any previous sample.
params = self.get_parameters(corners, board, cv.GetSize(rgb))
if self.is_good_sample(params):
self.db.append((params, rgb))
self.good_corners.append((corners, board))
print "*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple(
[len(self.db)] + params)
rv = MonoDrawable()
rv.scrib = scrib
rv.params = self.compute_goodenough()
rv.linear_error = linear_error
return rv
if __name__ == "__main__":
cv.NamedWindow("win")
if len(sys.argv) > 1:
filename = sys.argv[1]
im = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_GRAYSCALE)
im3 = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_COLOR)
else:
try: # try opening local copy of image
fileName = '../cpp/left01.jpg'
im = cv.LoadImageM(fileName, False)
im3 = cv.LoadImageM(fileName, True)
except: # if local copy cannot be opened, try downloading it
url = 'https://raw.github.com/opencv/opencv/master/samples/cpp/left01.jpg'
filedata = urllib2.urlopen(url).read()
imagefiledata = cv.CreateMatHeader(1, len(filedata), cv.CV_8UC1)
cv.SetData(imagefiledata, filedata, len(filedata))
im = cv.DecodeImageM(imagefiledata, cv.CV_LOAD_IMAGE_GRAYSCALE)
im3 = cv.DecodeImageM(imagefiledata, cv.CV_LOAD_IMAGE_COLOR)
chessboard_dim = (9, 6)
found_all, corners = cv.FindChessboardCorners(im, chessboard_dim)
print found_all, len(corners)
cv.DrawChessboardCorners(im3, chessboard_dim, corners, found_all)
cv.ShowImage("win", im3)
cv.WaitKey()
cv.DestroyAllWindows()
def handle_msg(self, msg):
# TODO Various asserts that images have same dimension, same board detected...
(lmsg, rmsg) = msg
lrgb = self.mkgray(lmsg)
rrgb = self.mkgray(rmsg)
epierror = -1
# Get display-images-to-be and detections of the calibration target
lscrib, lcorners, ldownsampled_corners, lboard, (
x_scale, y_scale) = self.downsample_and_detect(lrgb)
rscrib, rcorners, rdownsampled_corners, rboard, _ = self.downsample_and_detect(
rrgb)
if self.calibrated:
# Show rectified images
if x_scale != 1.0 or y_scale != 1.0:
rgb_rect = self.l.remap(lrgb)
cv.Resize(rgb_rect, lscrib)
rgb_rect = self.r.remap(rrgb)
cv.Resize(rgb_rect, rscrib)
else:
lscrib = self.l.remap(lrgb)
rscrib = self.r.remap(rrgb)
# Draw rectified corners
if lcorners:
src = self.mk_image_points([(lcorners, lboard)])
lundistorted = list(
cvmat_iterator(self.l.undistort_points(src)))
scrib_src = [(x / x_scale, y / y_scale)
for (x, y) in lundistorted]
cv.DrawChessboardCorners(lscrib,
(lboard.n_cols, lboard.n_rows),
scrib_src, True)
if rcorners:
src = self.mk_image_points([(rcorners, rboard)])
rundistorted = list(
cvmat_iterator(self.r.undistort_points(src)))
scrib_src = [(x / x_scale, y / y_scale)
for (x, y) in rundistorted]
cv.DrawChessboardCorners(rscrib,
(rboard.n_cols, rboard.n_rows),
scrib_src, True)
# Report epipolar error
if lcorners and rcorners:
epierror = self.epipolar_error(lundistorted, rundistorted,
lboard)
else:
# Draw any detected chessboards onto display (downsampled) images
if lcorners:
src = self.mk_image_points([(ldownsampled_corners, lboard)])
cv.DrawChessboardCorners(lscrib,
(lboard.n_cols, lboard.n_rows),
cvmat_iterator(src), True)
if rcorners:
src = self.mk_image_points([(rdownsampled_corners, rboard)])
cv.DrawChessboardCorners(rscrib,
(rboard.n_cols, rboard.n_rows),
cvmat_iterator(src), True)
# Add sample to database only if it's sufficiently different from any previous sample
if lcorners and rcorners:
params = self.get_parameters(lcorners, lboard,
cv.GetSize(lrgb))
if self.is_good_sample(params):
self.db.append((params, lrgb, rrgb))
self.good_corners.append((lcorners, rcorners, lboard))
print "*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple(
[len(self.db)] + params)
rv = StereoDrawable()
rv.lscrib = lscrib
rv.rscrib = rscrib
rv.params = self.compute_goodenough()
rv.epierror = epierror
return rv
x0 = [0.]
#print silly(x0, goodcorners)
print "initial error", silly(x0, goodcorners)
xopt = fmin(silly, x0, args=(goodcorners, ))
print "xopt", xopt
print "final error", silly(xopt, goodcorners)
d = 1.0 # - sum(xopt)
poly = numpy.poly1d(list(xopt) + [d, 0.])
print "final polynomial"
print poly
for co in goodcorners:
scrib = cv.CreateMat(480, 640, cv.CV_8UC3)
cv.SetZero(scrib)
cv.DrawChessboardCorners(scrib, (num_x_ints, num_y_ints),
[xf(pt, poly) for pt in co], True)
cv.ShowImage("snap", scrib)
cv.WaitKey()
sys.exit(0)
for (i, (img, (ok, co))) in enumerate(zip(images, corners)):
scrib = cv.CreateMat(img.rows, img.cols, cv.CV_8UC3)
cv.CvtColor(img, scrib, cv.CV_GRAY2BGR)
if ok:
cv.DrawChessboardCorners(scrib, (num_x_ints, num_y_ints), co, True)
cv.ShowImage("snap", scrib)
cv.WaitKey()
print len(goodcorners)
ipts = mk_image_points(goodcorners)
