def __init__(self, args):
self.args = args
for path in args.images:
print(os.path.join(args.folder, path))
self.images = [cv2.imread(os.path.join(args.folder, path)) for path in args.images]
print(args.input_calibration)
if args.input_calibration is not None:
self.rig = cio.load_opencv_calibration(os.path.join(args.folder, args.input_calibration))
self.images = undistort_stereo(self.rig, self.images[0], self.images[1], 1.8)
def __init__(self, args):
self.args = args
for path in args.images:
print(os.path.join(args.folder, path))
self.images = [
cv2.imread(os.path.join(args.folder, path)) for path in args.images
]
print(args.input_calibration)
if args.input_calibration is not None:
self.rig = cio.load_opencv_calibration(
os.path.join(args.folder, args.input_calibration))
self.images = undistort_stereo(self.rig, self.images[0],
self.images[1], 1.8)
def main(argv=None):
parser = argparse.ArgumentParser(description='Simply print out a calibration result in a more'+
'humanly-readable form.')
parser.add_argument("-f", "--calibration_result_file",
help="A calibration result file procded by 'calibrate video opencv.py'",
required=False, default= "./cvcalib.xml")
args = parser.parse_args()
if(not osp.isfile(args.calibration_result_file)):
raise ValueError("The file at " + args.calibration_result_file + " could not be openened.")
calibration_info = cio.load_opencv_calibration(args.calibration_result_file)
print(calibration_info)
def load_rig(root_path, cams):
intrinsics = []
for cam in cams:
intrinsics.append(
cio.load_opencv_calibration(
os.path.join(root_path, "calib/intrinsics/" + cam +
".xml")).cameras[0].intrinsics)
stereo_pair_labels = ["A", "E", "C", "D"]
stereo_rigs = []
stereo_extrinsics = []
i_rig = 0
for sp in stereo_pair_labels:
stereo_rig = cio.load_opencv_calibration(
os.path.join(root_path, "calib/stereo/" + sp + ".xml"))
stereo_rig.label = stereo_pair_labels[i_rig]
i_rig += 1
stereo_rigs.append(stereo_rig)
stereo_extrinsics.append(stereo_rig.cameras[1].extrinsics)
cross_pairs = ["ar_el", "er_cl", "cr_dl", "dr_al"]
cross_extrinsics = []
for cp in cross_pairs:
cross_extrinsics.append(
cio.load_opencv_calibration(
os.path.join(root_path, "calib/cross_pair/" + cp +
".xml")).cameras[1].extrinsics)
cur_pose = cb.Camera.Extrinsics()
global_extrinsics = [cur_pose]
tvecs = [cur_pose.translation]
for i_pair in range(len(stereo_pair_labels)):
stereo_rigs[i_pair].extrinsics = cur_pose
stereo_extr = stereo_extrinsics[i_pair] # type: cb.Camera.Extrinsics
cur_pose = apply_extr(cur_pose, stereo_extr)
global_extrinsics.append(cur_pose)
tvecs.append(cur_pose.translation)
cross_extr = cross_extrinsics[i_pair] # type: cb.Camera.Extrinsics
cur_pose = apply_extr(cur_pose, cross_extr)
global_extrinsics.append(cur_pose)
tvecs.append(cur_pose.translation)
global_extrinsics = global_extrinsics[:-1]
tvecs = tvecs[:-1]
tvecs = np.array(tvecs).reshape(8, 3)
center = tvecs.mean(axis=0).reshape(1, 3)
offset = -center
# move center to center of cage
for pose in global_extrinsics:
pose.translation = pose.translation + offset
print("Stereo camera positions (m):")
for stereo_rig in stereo_rigs:
print(stereo_rig.extrinsics.translation)
cameras = []
for i_cam in range(len(intrinsics)):
cam = cb.Camera(intrinsics=intrinsics[i_cam],
extrinsics=global_extrinsics[i_cam])
cameras.append(cam)
rig = Rig(cameras=cameras)
ms_rig = MultiStereoRig(stereo_rigs=stereo_rigs)
return rig, ms_rig
def main():
parser = argparse.ArgumentParser(description='Simply print out a calibration result in a more' +
'humanly-readable form.')
parser.add_argument("-f", "--folder", help="Path to root folder to work in",
required=False, default="./")
parser.add_argument("-c", "--calibration_result_file",
help="A calibration result file procded by 'calibrate video opencv.py'",
required=False, default="./cvcalib.xml")
parser.add_argument("-v", "--verbose", help="Print additional information along the way.",
required=False, default=False, action='store_true')
parser.add_argument("-i", "--images", help="Input image(s), lens-distorted", required=False,
action=required_length(1, 2), nargs="+", metavar="PATH", default=["left.png, right.png"])
parser.add_argument("-o", "--output", help="Output file names, undistored image(s)"
, metavar="PATH", action=required_length(1, 2), nargs="+", required=False,
default=["left_rect.png", "right_rect.png"])
parser.add_argument("-cf", "--canvas_size_factor", help="Output canvas size, in pixels, will be " +
"(input_width * canvas_size_factor, input_height * canvas_size_factor)",
type=float, default=1.8)
args = parser.parse_args()
calibration_info = cio.load_opencv_calibration(osp.join(args.folder, args.calibration_result_file))
if args.verbose:
print(calibration_info)
if type(calibration_info) == Rig and len(calibration_info.cameras) == 2:
if len(args.images) < 2:
raise ValueError("Got a stereo rig but less than two input images. Aborting.")
if len(args.output) < 2:
raise ValueError("Got a stereo rig but less than two output filenames. Aborting.")
left = cv2.imread(osp.join(args.folder, args.images[0]))
right = cv2.imread(osp.join(args.folder, args.images[1]))
rig = calibration_info
c0 = rig.cameras[0].intrinsics
c1 = rig.cameras[1].intrinsics
if (left.shape[0], left.shape[1]) != c0.resolution:
raise ValueError("Left image size does not correspond to resolution provided in the calibration file.")
if (right.shape[0], right.shape[1]) != c1.resolution:
raise ValueError("Right image size does not correspond to resolution provided in the calibration file.")
cf = args.canvas_size_factor
rect_left, rect_right = undistort_stereo(rig, left, right, cf)
cv2.imwrite(osp.join(args.folder, args.output[0]), rect_left)
cv2.imwrite(osp.join(args.folder, args.output[1]), rect_right)
else:
if len(args.images) > 1:
print("Warning: provided a single-camera calibration but more than one input image." +
" Using only the first one.")
img = cv2.imread(osp.join(args.folder, args.images[0]))
if type(calibration_info) == Camera:
calibration_info = calibration_info.intrinsics
elif type(calibration_info) == Rig:
calibration_info = calibration_info.cameras[0].intrinsics
if (img.shape[0], img.shape[1]) != calibration_info.resolution:
raise ValueError("Image size does not correspond to resolution provided in the calibration file.")
cf = args.canvas_size_factor
map_x, map_y = cv2.initUndistortRectifyMap(calibration_info.intrinsic_mat,
calibration_info.distortion_coeffs,
None, None,
(int(img.shape[1] * cf), int(img.shape[0] * cf)),
cv2.CV_32FC1)
out = cv2.remap(img, map_x, map_y, cv2.INTER_LINEAR)
cv2.imwrite(osp.join(args.folder, args.output[0]), out)
def __init__(self, args):
"""
Base constructor
"""
self.args = args
self.aux_data_file = {}
# load or initialize auxiliary data
if args.aux_data_file is not None:
self.aux_data_path = os.path.join(self.args.folder, self.args.aux_data_file)
if osp.isfile(self.aux_data_path):
npz_archive = np.load(osp.join(args.folder, args.aux_data_file))
# convert to dict
for key in npz_archive:
self.aux_data_file[key] = npz_archive[key]
# set up board (3D object points of checkerboard used for calibration)
self.object_points = []
self.board_dims = (args.board_width, args.board_height)
self.board_object_corner_set = np.zeros((args.board_height * args.board_width, 1, 3), np.float32)
self.board_object_corner_set[:, :, :2] = np.indices(self.board_dims).T.reshape(-1, 1, 2)
self.board_object_corner_set *= args.board_square_size
self.pixel_difference_factor = 1.0 / (self.board_dims[0] * self.board_dims[1] * 3 * 256.0)
# some vars set to default
self.criteria_subpix = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 40, 0.001)
if args.output is None:
args.output = "intrinsics{0:s}.xml".format(re.sub(r"-|:", "",
str(datetime.datetime.now())[:-7])
.replace(" ", "-"))
self.videos = [Video(os.path.join(args.folder, video_filename)) for video_filename in args.videos]
if args.input_calibration is not None:
intrinsic_arr = []
# load calibration files
initial_calibration = []
for calib_file in args.input_calibration:
initial_calibration.append(load_opencv_calibration(os.path.join(args.folder, calib_file)))
for calibration_info in initial_calibration:
if type(calibration_info) == MultiStereoRig:
for rig in calibration_info.rigs:
for camera in rig.cameras:
intrinsic_arr.append(camera.intrinsics)
elif type(calibration_info) == Rig:
for camera in calibration_info.cameras:
intrinsic_arr.append(camera.intrinsics)
elif type(calibration_info) == Camera:
intrinsic_arr.append(calibration_info.intrinsics)
elif type(calibration_info) == Camera.Intrinsics:
intrinsic_arr.append(calibration_info)
else:
raise RuntimeError("Unsupported calibration file format.")
if len(intrinsic_arr) != len(args.videos):
raise ValueError("The total number of intrinsics in all the provided input calibration files " +
"combined ({:d}) does not equal the total number provided of video file paths ({:d})." +
"These numbers must match."
.format(len(intrinsic_arr), len(args.videos)))
self.cameras = [Camera(intrinsics=intrinsics) for intrinsics in intrinsic_arr]
if len(initial_calibration) == 1 and (type(initial_calibration[0]) == Rig or
type(initial_calibration[0]) == MultiStereoRig):
self.rig = initial_calibration[0]
else:
self.rig = Rig(tuple(self.cameras))
else:
self.cameras = [Camera(resolution=video.frame_dims) for video in self.videos]
self.rig = Rig(tuple(self.cameras))
def main():
parser = argparse.ArgumentParser(
description='Simply print out a calibration result in a more' +
'humanly-readable form.')
parser.add_argument("-f",
"--folder",
help="Path to root folder to work in",
required=False,
default="./")
parser.add_argument(
"-c",
"--calibration_result_file",
help="A calibration result file procded by 'calibrate video opencv.py'",
required=False,
default="./cvcalib.xml")
parser.add_argument("-v",
"--verbose",
help="Print additional information along the way.",
required=False,
default=False,
action='store_true')
parser.add_argument("-i",
"--images",
help="Input image(s), lens-distorted",
required=False,
action=required_length(1, 2),
nargs="+",
metavar="PATH",
default=["left.png, right.png"])
parser.add_argument("-o",
"--output",
help="Output file names, undistored image(s)",
metavar="PATH",
action=required_length(1, 2),
nargs="+",
required=False,
default=["left_rect.png", "right_rect.png"])
parser.add_argument(
"-cf",
"--canvas_size_factor",
help="Output canvas size, in pixels, will be " +
"(input_width * canvas_size_factor, input_height * canvas_size_factor)",
type=float,
default=1.8)
args = parser.parse_args()
calibration_info = cio.load_opencv_calibration(
osp.join(args.folder, args.calibration_result_file))
if args.verbose:
print(calibration_info)
if type(calibration_info) == Rig and len(calibration_info.cameras) == 2:
if len(args.images) < 2:
raise ValueError(
"Got a stereo rig but less than two input images. Aborting.")
if len(args.output) < 2:
raise ValueError(
"Got a stereo rig but less than two output filenames. Aborting."
)
left = cv2.imread(osp.join(args.folder, args.images[0]))
right = cv2.imread(osp.join(args.folder, args.images[1]))
rig = calibration_info
c0 = rig.cameras[0].intrinsics
c1 = rig.cameras[1].intrinsics
if (left.shape[0], left.shape[1]) != c0.resolution:
raise ValueError(
"Left image size does not correspond to resolution provided in the calibration file."
)
if (right.shape[0], right.shape[1]) != c1.resolution:
raise ValueError(
"Right image size does not correspond to resolution provided in the calibration file."
)
cf = args.canvas_size_factor
rect_left, rect_right = undistort_stereo(rig, left, right, cf)
cv2.imwrite(osp.join(args.folder, args.output[0]), rect_left)
cv2.imwrite(osp.join(args.folder, args.output[1]), rect_right)
else:
if len(args.images) > 1:
print(
"Warning: provided a single-camera calibration but more than one input image."
+ " Using only the first one.")
img = cv2.imread(osp.join(args.folder, args.images[0]))
if type(calibration_info) == Camera:
calibration_info = calibration_info.intrinsics
elif type(calibration_info) == Rig:
calibration_info = calibration_info.cameras[0].intrinsics
if (img.shape[0], img.shape[1]) != calibration_info.resolution:
raise ValueError(
"Image size does not correspond to resolution provided in the calibration file."
)
cf = args.canvas_size_factor
map_x, map_y = cv2.initUndistortRectifyMap(
calibration_info.intrinsic_mat, calibration_info.distortion_coeffs,
None, None, (int(img.shape[1] * cf), int(img.shape[0] * cf)),
cv2.CV_32FC1)
out = cv2.remap(img, map_x, map_y, cv2.INTER_LINEAR)
cv2.imwrite(osp.join(args.folder, args.output[0]), out)
def __init__(self, args):
"""
Base constructor
"""
self.args = args
self.aux_data_file = {}
# load or initialize auxiliary data
if args.aux_data_file is not None:
self.aux_data_path = os.path.join(self.args.folder,
self.args.aux_data_file)
if osp.isfile(self.aux_data_path):
npz_archive = np.load(osp.join(args.folder,
args.aux_data_file))
# convert to dict
for key in npz_archive:
self.aux_data_file[key] = npz_archive[key]
# set up board (3D object points of checkerboard used for calibration)
self.object_points = []
self.board_dims = (args.board_width, args.board_height)
self.board_object_corner_set = np.zeros(
(args.board_height * args.board_width, 1, 3), np.float32)
self.board_object_corner_set[:, :, :2] = np.indices(
self.board_dims).T.reshape(-1, 1, 2)
self.board_object_corner_set *= args.board_square_size
self.pixel_difference_factor = 1.0 / (self.board_dims[0] *
self.board_dims[1] * 3 * 256.0)
# some vars set to default
self.criteria_subpix = (cv2.TERM_CRITERIA_EPS +
cv2.TERM_CRITERIA_MAX_ITER, 40, 0.001)
if args.output is None:
args.output = "intrinsics{0:s}.xml".format(
re.sub(r"-|:", "",
str(datetime.datetime.now())[:-7]).replace(" ", "-"))
self.videos = [
Video(os.path.join(args.folder, video_filename))
for video_filename in args.videos
]
if args.input_calibration is not None:
intrinsic_arr = []
# load calibration files
initial_calibration = []
for calib_file in args.input_calibration:
initial_calibration.append(
load_opencv_calibration(
os.path.join(args.folder, calib_file)))
for calibration_info in initial_calibration:
if type(calibration_info) == MultiStereoRig:
for rig in calibration_info.rigs:
for camera in rig.cameras:
intrinsic_arr.append(camera.intrinsics)
elif type(calibration_info) == Rig:
for camera in calibration_info.cameras:
intrinsic_arr.append(camera.intrinsics)
elif type(calibration_info) == Camera:
intrinsic_arr.append(calibration_info.intrinsics)
elif type(calibration_info) == Camera.Intrinsics:
intrinsic_arr.append(calibration_info)
else:
raise RuntimeError("Unsupported calibration file format.")
if len(intrinsic_arr) != len(args.videos):
raise ValueError(
"The total number of intrinsics in all the provided input calibration files "
+
"combined ({:d}) does not equal the total number provided of video file paths ({:d})."
+ "These numbers must match.".format(
len(intrinsic_arr), len(args.videos)))
self.cameras = [
Camera(intrinsics=intrinsics) for intrinsics in intrinsic_arr
]
if len(initial_calibration) == 1 and (
type(initial_calibration[0]) == Rig
or type(initial_calibration[0]) == MultiStereoRig):
self.rig = initial_calibration[0]
else:
self.rig = Rig(tuple(self.cameras))
else:
self.cameras = [
Camera(resolution=video.frame_dims) for video in self.videos
]
self.rig = Rig(tuple(self.cameras))
