ren = calipy.vtkRenderer()
ren.addCamera("front_cam", cs=0.5)
ren.addCamera("back_cam", Rt.R, Rt.T, cs=0.5)
TV_width = 1.70
TV_height = 0.95
objectPoints = np.array([[0, 0, 0], [TV_width, 0, 0], [0, TV_height, 0],
[TV_width, TV_height, 0]]).astype(np.float64)
tvpoints_on_camera = TVRt.move(np.transpose(objectPoints))
ren.addLines("TV", np.transpose(tvpoints_on_camera), [0, 1, 3, 2, 0])
#ren.addCamera("TV_origin", TVRt.R, TVRt.T, cs=0.5)
# Display Input Image
cam = calipy.ColorCamera("./CameraData/back/cam_intrinsic.json")
input_img_path = "./display.jpg"
undistort_img_path = "undistort_display.jpg"
input_img = calipy.lib.imreadKorean(input_img_path)
undistort_img = cam.solveDistortion(input_img)
undistort_img = cv2.flip(undistort_img, 0)
cv2.imwrite(undistort_img_path, undistort_img)
uv_0 = np.dot(cam.intrinsic_inv, np.transpose([[0, 0, 1]]))
uv_1 = np.dot(cam.intrinsic_inv, np.transpose([[1920, 1080, 1]]))
uv_0 = 10 * uv_0 / uv_0[2]
uv_1 = 10 * uv_1 / uv_1[2]
import calipy ## Input front_path = "./CameraData/Front/" back_path = "./CameraData/back/" ## Output output_path = "./CameraData/Rt.json" front_data_list_seed = front_path + "*.png" back_data_list_seed = back_path + "*.png" front_intrinsic_path = front_path + "cam_intrinsic.json" back_intrinsic_path = back_path + "cam_intrinsic.json" front_cam = calipy.ColorCamera(front_intrinsic_path) back_cam = calipy.ColorCamera(back_intrinsic_path) ### Init criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) criteria_cal = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 1e-5) # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) objp = np.zeros((3 * 4, 3), np.float32) objp[:, :2] = np.mgrid[0:3, 0:4].T.reshape(-1, 2) * 0.135 # Arrays to store object points and image points from all the images. objpoints = [] # 3d point in real world space imgpoints_front = [] # 2d points in image plane. imgpoints_back = [] # 2d points in image plane.
def runScreenUI(camera_path, img_path):
cam = calipy.ColorCamera(camera_path)
resize_value = 0.5
original_img = cv2.imread(img_path)
img = cam.solveDistortion(original_img)
img = cv2.resize(img, (int(img.shape[1] * resize_value),int(img.shape[0] * resize_value)))
sc = np.zeros((2,2,2))
sc[0,0] = [0.202,0.262]
sc[0,-1] = [0.816,0.28]
sc[-1,0] = [0.204,0.783]
sc[-1,-1] = [0.797,0.795]
ui_selected_idx = -1
while True:
frame = img.copy()
resize_img = drawScreen(frame, sc)
cv2.imshow('frame',resize_img)
chr = cv2.waitKey(0)# & 0xFF
if chr == ord('1'):
ui_selected_idx = 0
if chr == ord('2'):
ui_selected_idx = 1
if chr == ord('3'):
ui_selected_idx = 2
if chr == ord('4'):
ui_selected_idx = 3
if chr == ord('r'):
print("RRRR")
if chr == ord('q'):
exit(1)
if chr == ord('y'):
break
if ui_selected_idx != -1:
print(ui_selected_idx)
if ui_selected_idx == 0:
u_idx = 0
v_idx = 0
if ui_selected_idx == 1:
u_idx = -1
v_idx = 0
if ui_selected_idx == 2:
u_idx = 0
v_idx = -1
if ui_selected_idx == 3:
u_idx = -1
v_idx = -1
if chr == ord('w'):
sc[v_idx,u_idx][1] -= 0.001
if chr == ord('a'):
sc[v_idx,u_idx][0] -= 0.001
if chr == ord('s'):
sc[v_idx,u_idx][1] += 0.001
if chr == ord('d'):
sc[v_idx,u_idx][0] += 0.001
if chr == ord('i'):
sc[v_idx,u_idx][1] -= 0.1
if chr == ord('j'):
sc[v_idx,u_idx][0] -= 0.1
if chr == ord('k'):
sc[v_idx,u_idx][1] += 0.1
if chr == ord('l'):
sc[v_idx,u_idx][0] += 0.1
print(sc)
target_sc = np.zeros((2,2,2))
target_sc[0,0] = [sc[0,0][0] * original_img.shape[1],sc[0,0][1] * original_img.shape[0]]
target_sc[0,-1] = [sc[0,-1][0] * original_img.shape[1],sc[0,-1][1] * original_img.shape[0]]
target_sc[-1,0] = [sc[-1,0][0] * original_img.shape[1],sc[-1,0][1] * original_img.shape[0]]
target_sc[-1,-1] = [sc[-1,-1][0] * original_img.shape[1],sc[-1,-1][1] * original_img.shape[0]]
print(target_sc)
R, T, output = calibrateWindow(cam.intrinsic, cam.distortion, target_sc)
print("output : ", np.transpose(output))
print("target_sc : ", target_sc)
rt = calipy.Transform()
rt.setParam(R,T)
rt.saveJson("Gopro_pos.json")
cv2.destroyAllWindows()
import numpy as np
import cv2
import sys
sys.path.append("../")
import calipy
import copy
target_img_path = "./Cameradata/display.png"
cam_param_path = "./Cameradata/Back/cam_intrinsic.json"
output_path = "./Cameradata/TVRT.json"
img = calipy.lib.imreadKorean(target_img_path)
cam_param = calipy.ColorCamera(cam_param_path)
img = cam_param.solveDistortion(img)
offset = 300
uv_points = np.array([ [offset,offset],
[img.shape[1] - offset, offset],
[offset, img.shape[0] - offset],
[img.shape[1] - offset, img.shape[0] - offset] ] )
uv_points = np.array([ [656, 351],
[1085, 380],
[645, 594],
[1075, 620] ] )
def drawImage(img, uv_points, current_idx):
temp_img = copy.deepcopy(img)
cv2.line( temp_img, (int(uv_points[0, 0]), int(uv_points[0, 1])), (int(uv_points[1, 0]), int(uv_points[1, 1])), (255,0,0) )
if ret == True:
corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1),
criteria)
# Draw and display the corners
img = cv2.drawChessboardCorners(img, (3, 4), corners2, ret)
cv2.imshow('img', img)
ch = cv2.waitKey(0)
if ch == ord('q'):
exit()
elif ch == ord('e'):
break
elif ch == ord(' '):
print(fname, " -> Add")
objpoints.append(objp)
imgpoints.append(corners2)
else:
print(fname, " -> Skip!!!")
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints,
gray.shape[::-1], None,
None)
print(ret)
print(mtx)
print(dist)
camera = calipy.ColorCamera()
camera.setParamFromMatrix(mtx, dist, 1920, 1080)
camera.saveJson(output_path)
import calipy
import cv2
cam = calipy.ColorCamera("cam_param.json")
img = cv2.imread("1.png")
img = cam.solveDistortion(img)
cv2.imshow("test", img)
cv2.waitKey(0)