def main():
args = get_args()
# Check for calib_images folder
if not os.path.exists('calib_images'):
print 'Please create a directory "calib_images"'
return
# Setup video display
video_disp = Display({'name': 'Video'})
# Setup controls
setup_trackbars('Controls') # , thresholds)
# Get input video
video = Video(args['video'])
num_frames = video.get_num_frames()
# Get the first frame to start with
frame = video.next_frame()
global seek_callback_action
while True:
if play_or_pause == 'Play':
if not seek_callback_action:
frame = video.next_frame()
else:
frame = video.get_frame(cur_seek_pos * num_frames / 100)
seek_callback_action = False
if video.end_reached():
# Wait indefinitely if end of video reached
# Or until keypress and then exit
cv2.waitKey(0)
break
video_disp.refresh(frame)
cur_frame_num = video.get_cur_frame_num()
# Service the key events
# if s is pressed, save image
# if b is pressed, go back 1s
# if n is pressed, go ahead 1s
if video_disp.key_pressed('s'):
video_file = os.path.basename(args['video']).lower()
img_file_name = 'calib_images/{}_{}.png'.format(
video_file.strip('.mp4'), cur_frame_num)
if cv2.imwrite(img_file_name, frame):
print 'Saved', img_file_name
elif video_disp.key_pressed('n'):
seek_callback(
min((((cur_frame_num + 60) * 100) // num_frames), num_frames))
elif video_disp.key_pressed('b'):
seek_callback(max((((cur_frame_num - 60) * 100) // num_frames), 0))
# Add quitting event
if video_disp.can_quit():
break
def main():
args = get_args()
# Read in configuration
load_config = LoadConfig('new_calib_{}.npz'.format(args['model'].lower()),
'calib')
calib = load_config.load()
# Setup video displays
video_disp = Display({'name': 'Video'})
# Setup controls
setup_trackbars('Controls') # , thresholds)
# Get input video
video = Video(args['video'])
num_frames = video.get_num_frames()
# Get the first frame to start with
frame = video.next_frame()
global seek_callback_action
while True:
if play_or_pause == 'Play':
if not seek_callback_action:
frame = video.next_frame()
else:
frame = video.get_frame(cur_seek_pos * num_frames / 100)
seek_callback_action = False
if video.end_reached():
# Wait indefinitely if end of video reached
# Or until keypress and then exit
cv2.waitKey(0)
break
# Undistort according to pinhole model
if args['model'].upper() == 'P':
# Make sure distortion coeffecients
# follow pinhole model
if calib['dist_coeffs'].shape[1] != 5:
print 'Input configuration probably not pinhole'
return
# Harcoded image size as
# this is a test script
img_size = (1920, 1080)
# First create scaled intrinsics because we will undistort
# into region beyond original image region
new_calib_matrix, _ = cv2.getOptimalNewCameraMatrix(
calib['camera_matrix'], calib['dist_coeffs'], img_size, 0.35)
# Then calculate new image size according to the scaling
# Unfortunately the Python API doesn't directly provide the
# the new image size. They forgot?
new_img_size = (
int(img_size[0] +
(new_calib_matrix[0, 2] - calib['camera_matrix'][0, 2])),
int(img_size[1] +
(new_calib_matrix[1, 2] - calib['camera_matrix'][1, 2])))
# Standard routine of creating a new rectification
# map for the given intrinsics and mapping each
# pixel onto the new map with linear interpolation
map1, map2 = cv2.initUndistortRectifyMap(calib['camera_matrix'],
calib['dist_coeffs'],
None, new_calib_matrix,
new_img_size,
cv2.CV_16SC2)
img_undistorted = cv2.remap(frame, map1, map2, cv2.INTER_LINEAR,
cv2.BORDER_CONSTANT)
# Undistort according to fisheye model
elif args['model'].upper() == 'F':
# Make sure distortion coeffecients
# follow fisheye model
if calib['dist_coeffs'].shape[0] != 4:
print 'Input configuration probably not fisheye'
return
# Harcoded image size as
# this is a test script.
# As already ranted before
# someone messed with the image
# size indexing and reversed it.
img_size = (1920, 1080)
# Also, the basic undistortion DOES NOT work
# with the fisheye module
# img_undistorted = cv2.fisheye.undistortImage(
# frame, calib['camera_matrix'], calib['dist_coeffs'])
# First create scaled intrinsics because we will undistort
# into region beyond original image region. The alpha
# parameter in pinhole model is equivalent to balance parameter here.
new_calib_matrix = cv2.fisheye.estimateNewCameraMatrixForUndistortRectify(
calib['camera_matrix'],
calib['dist_coeffs'],
img_size,
np.eye(3),
balance=1)
# Then calculate new image size according to the scaling
# Well if they forgot this in pinhole Python API,
# can't complain about Fisheye model. Note the reversed
# indexing here too.
new_img_size = (
int(img_size[0] +
(new_calib_matrix[0, 2] - calib['camera_matrix'][0, 2])),
int(img_size[1] +
(new_calib_matrix[1, 2] - calib['camera_matrix'][1, 2])))
# Standard routine of creating a new rectification
# map for the given intrinsics and mapping each
# pixel onto the new map with linear interpolation
map1, map2 = cv2.fisheye.initUndistortRectifyMap(
calib['camera_matrix'], calib['dist_coeffs'], np.eye(3),
new_calib_matrix, new_img_size, cv2.CV_16SC2)
img_undistorted = cv2.remap(frame, map1, map2, cv2.INTER_LINEAR,
cv2.BORDER_CONSTANT)
# Update GUI with new image
video_disp.refresh(img_undistorted)
# Service the s key to save image
if video_disp.key_pressed('s'):
cur_frame_num = video.get_cur_frame_num()
orig_img_file_name = 'image_for_markers_orig.png'
undistorted_img_file_name = 'image_for_markers_undistorted.png'
if cv2.imwrite(orig_img_file_name, frame):
print 'Saved original {} at frame {}'.format(
orig_img_file_name, cur_frame_num)
if cv2.imwrite(undistorted_img_file_name, img_undistorted):
print 'Saved undistorted {} at frame {}'.format(
undistorted_img_file_name, cur_frame_num)
# Add quitting event
if video_disp.can_quit():
break
def main():
args = get_args()
# Read in configuration
# load_config = LoadConfig('config/thresholds.npz', 'thresholds')
# thresholds = load_config.load()
# Setup video displays
video_disp = Display({'name': 'Video'})
# Setup controls
setup_trackbars('Controls') # , thresholds)
# Get input video
video = Video(args['video'])
num_frames = video.get_num_frames()
# Get the first frame to start with
frame = video.next_frame()
global seek_callback_action
# Deck for storing calib images
calib_img_deck = deque(maxlen=MAX_NUM_IMAGES_FOR_CALIB)
# Deck for storing charuco info
charuco_corners_deck = deque(maxlen=MAX_NUM_IMAGES_FOR_CALIB)
charuco_ids_deck = deque(maxlen=MAX_NUM_IMAGES_FOR_CALIB)
skip_count = 0
test_camera_matrix = np.array([
[11096.77, 0, 540],
[0, 11096.77, 960],
[0, 0, 1]
])
while True:
if play_or_pause == 'Play':
if not seek_callback_action:
frame = video.next_frame()
else:
frame = video.get_frame(cur_seek_pos * num_frames / 100)
seek_callback_action = False
if video.end_reached():
# Wait indefinitely if end of video reached
# Or until keypress and then exit
cv2.waitKey(0)
break
corners, ids, rejected_img_points = cv2.aruco.detectMarkers(
frame, dictionary)
if ids is not None:
img_markers = cv2.aruco.drawDetectedMarkers(frame, corners, ids)
num_charuco, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco(
corners, ids, frame, board, cameraMatrix=test_camera_matrix)
if charuco_corners is not None:
img_markers = cv2.aruco.drawDetectedCornersCharuco(
img_markers, charuco_corners, charuco_ids)
if ids.shape[0] == MAX_ARUCO_IDS \
and num_charuco == MAX_CHARUCO_IDS \
and skip_count % 15 == 0:
calib_img_deck.append(frame)
charuco_corners_deck.append(charuco_corners)
charuco_ids_deck.append(charuco_ids)
else:
img_markers = frame
cv2.putText(img_markers, '{}/{}'.format(len(calib_img_deck), MAX_NUM_IMAGES_FOR_CALIB),
(200, 100), cv2.FONT_HERSHEY_COMPLEX, 2, (0, 0, 255), 5)
video_disp.refresh(img_markers)
if video_disp.key_pressed('s'):
pass
skip_count = skip_count + 1
# Add quitting event
if video_disp.can_quit():
break
# On quit, save the params
# save_config = SaveConfig('new_erode_dilate', 'erode_dilate')
# save_config.save(dilate_size=dilate_size, erode_size=erode_size)
img_size = calib_img_deck[0].shape[:2]
# print charuco_ids_deck
# error, camera_matrix, dist_coeffs = cv2.aruco.calibrateCameraCharuco(
# charuco_corners_deck, charuco_ids_deck, board, img_size, test_camera_matrix, None)[:3]
objPoints, imgPoints = [board.chessboardCorners.reshape(
1, -1, 3)] * len(charuco_corners_deck), charuco_corners_deck
calibration_flags = cv2.fisheye.CALIB_USE_INTRINSIC_GUESS + \
cv2.fisheye.CALIB_FIX_PRINCIPAL_POINT + cv2.fisheye.CALIB_FIX_SKEW
error, camera_matrix, dist_coeffs = cv2.fisheye.calibrate(
objPoints, imgPoints, img_size, test_camera_matrix, np.zeros(4), flags=calibration_flags)[:3]
print error, camera_matrix
save_config = SaveConfig('new_calib', 'calib')
save_config.save(camera_matrix=camera_matrix, dist_coeffs=dist_coeffs)