def inspect(self):
"""
Run through calibration images, showing original and undistorted.
Intended to be run after saving calibration images.
"""
# access calibration images
if self.calibpath is None:
raise RuntimeError('calibpath is unset')
imgpath = self.calibpath + '/corners2'
fns = [
imgpath + '/' + f for f in listdir(imgpath)
if f[-4:].lower() == '.jpg'
]
fns.sort()
imgs = [cv_imread(f) for f in fns]
shape = list(imgs[0].shape)
shape.append(len(imgs))
# undistort
# go through 1-by-1 b/c asarray(imgs) gets shaped wrong & reshape messes with things
ud = zeros(shape, dtype=uint8)
for i in range(len(imgs)):
ud[..., i] = self.correct(imgs[i].squeeze())
# display side-by-side
for i in range(len(imgs)):
img = imgs[i].copy()
u = ud[..., i].copy()
cv_putText(img,
fns[i][-10:], (5, 15),
1,
1, (0, 0, 255),
thickness=2)
cv_putText(img,
'Press space for next image', (5, 30),
1,
1, (0, 0, 255),
thickness=2)
cv_putText(u, 'Undistort', (5, 15), 1, 1, (0, 0, 255), thickness=2)
frame = concatenate((img, u), axis=0)
cv_imshow('frame', frame)
press = waitKey(-1)
if press == ord('q'):
break
destroyAllWindows()
from argparse import ArgumentParser
from cv2 import destroyAllWindows, waitKey
from cv2 import imshow as cv_imshow
from cv2 import putText as cv_putText
from numpy import zeros
parser = ArgumentParser(
description='Determine how OpenCV\'s `waitKey` interprets keypresses'
)
args = parser.parse_args()
u = zeros((240, 320, 3)) # reference frame
u1 = u.copy() # prealloc mem
lpress = 0 # last press (`waitKey` timeout returns 255)
try:
while 1:
u1 = u.copy() # avoid constant text
cv_putText(u1, 'q to quit', (5,30), 1,1,(0,0,255), thickness=2)
cv_putText(u1, 'Last press: %d' % lpress, (5,15), 1,1,(0,0,255), thickness=2)
cv_imshow('win', u1)
press = waitKey(20)
if press == ord('q'):
break
if press != 255: # `waitKey` returns 255 on timeout
lpress = press
except Exception as e:
raise e
finally:
destroyAllWindows()
break
# Update Camera Matrix
ncm, roi = getOptimalNewCameraMatrix(calib.cameraMatrix,
calib.distCoeffs, (W, H),
alpha_val)
x, y, w, h = roi
# Read frames and correct
r, f = cap.read()
if not r:
logging.warning('Unable to read frame')
continue
_u1 = undistort(f,
calib.cameraMatrix,
calib.distCoeffs,
None,
newCameraMatrix=ncm)
u1 = zeros((H, W, 3), dtype='uint8')
u1[y:y + h, x:x + w] = _u1[y:y + h, x:x + w]
u2 = calib.correct(f)
cv_putText(u1, 'newCamMat', (5, 15), 1, 1, (0, 0, 255), thickness=2)
cv_putText(u2, 'CamMat', (5, 15), 1, 1, (0, 0, 255), thickness=2)
u = concatenate((u1, u2), axis=0)
except Exception as e:
raise e
finally:
cap.release()
destroyAllWindows()
def clean_calib_imgs(self, basepath=None, rawpath=None, cpath=None):
"""
Provides interface to sanitize calibration images using a
tutorial-like imshow() interface. Deletes frames, and removes elements
from self.corners_arr, if they are not None.
INPUTS
(optional)
basepath -- str -- Base path for calib frames; None
rawpath -- str -- Path to frames for calibration; None
cpath -- str -- Path to frames with chessboard; None
NOTE
The frames in each path must have the same name, e.g. 'f00001.jpg'
USAGE
SPECIFIED ONLY BASEPATH
When all other paths the frame paths will
be defined as:
rawpath = basepath + '/raw'
cpath = basepath + '/corners'
PATHS TO ALL FRAMES
If rawpath and cpath are all explicitly defined, they will be
used as is. basepath will be ignored.
"""
# Parse paths
if basepath is not None:
basepath = realpath(basepath)
if basepath[basepath.rfind('/') + 1:] not in ('raw', 'corners',
'corners2'):
logging.warning(
'Assuming \'%s\' is base dir for all unspecified frames' %
basepath)
basepath = basepath
else:
basepath = dirname(basepath)
if rawpath is None:
rawpath = basepath + '/raw'
if cpath is None:
cpath = basepath + '/corners'
# Select images to save
fn_imgs = [f for f in listdir(cpath) if f[-4:].lower() == '.jpg']
fn_imgs.sort()
i = 0
while i < len(fn_imgs):
f = fn_imgs[i]
img = cv_imread(cpath + '/' + f)
if img is None: # catch deleted image
fn_imgs.pop(i)
if self.corners_arr is not None:
self.corners_arr.pop(i)
i += 1
continue
cv_putText(img, f, (5, 15), 1, 1, (0, 0, 255), thickness=2)
cv_putText(img,
'\'r\' to remove', (5, 30),
1,
1, (0, 0, 255),
thickness=2)
cv_putText(img,
'left bracket to go back', (5, 45),
1,
1, (0, 0, 255),
thickness=2)
cv_imshow('image', img)
# interface
press = waitKey(-1)
if press == ord('r'):
fn = fn_imgs[i][fn_imgs[i].rfind('f'):]
os_remove(rawpath + '/' + fn)
os_remove(cpath + '/' + fn)
elif press in (27, 81, 113): # esc, q, Q
break
elif press == 91: # left bracket
i -= 2
i += 1
destroyAllWindows()
def record_calib_imgs(self, **kwargs):
"""
Provides photobooth-esque countdown interface. Saves frames to calib
path in subdirectories `raw/` and `corners/`. Be sure to
initialize the chessboard first.
INPUTS
(optional)
cam -- str/int -- camera descriptor for VideoCapture; '/dev/psEye'
nframes -- int -- number of frames to record for calibration; 15
w -- int -- width (px) to set camera frame; 320
h -- int -- height (px) to set camera frame; 240
fps -- int -- frames per second to set camera; 100
countdown -- int -- seconds to countdown before recording frame; 3
EXCEPTIONS
raises RuntimeError when chessboard hasn't been properly initialized
by constructor or `init_chessboard`.
"""
cam = kwargs.get('cam', '/dev/psEye')
nframes = kwargs.get('nframes', 15)
w = kwargs.get('w', 320)
h = kwargs.get('h', 240)
countdown = kwargs.get('countdown', 3)
if type(nframes) != int:
raise TypeError('nframes must be integer')
if type(countdown) != int:
raise TypeError('countdown must be integer')
if self.img_arr is not None or self.calibpath is None:
raise RuntimeError('Did you call init_chessboard() first?')
cap = open_camera(cam, w, h, 100) # this handles asserts
self.w = int(cap.get(CAP_PROP_FRAME_WIDTH))
self.h = int(cap.get(CAP_PROP_FRAME_HEIGHT))
self.img_arr = zeros((self.h, self.w, 1, nframes),
dtype=uint8) # raw frames
clist = [] # corners frames
self.corners_arr = []
self.objpoints = []
# Recording
sc = 0 # "sample count"
timer_ref = now()
timer = lambda: 1 + int(countdown + timer_ref - now()
) # countDOWN 3,2,1
try: # try/except to make sure camera device gets released
img = zeros(self.img_arr.shape[:-1]) # for immediate cv_imshow
while sc < nframes:
# Display at top so can always exit
cv_imshow('capture', img)
press = waitKey(20)
if press in (113, 81, 27): # q, Q, esc:
logging.debug('quitting record')
break
# Find chessboard, if possible
ret, raw = cap.read()
if not ret:
logging.error('Failed to access frame')
timer_ref = now() # reset timer when things go wrong
continue
gray = cvtColor(raw, COLOR_RGB2GRAY)
corners = self._find_chessboard(gray)
# Compute visual feedback
if corners is None: # alert to unfindable chessboard
img = raw.copy()
cv_putText(img,
'NO CHESSBOARD', (5, 15),
1,
1, (0, 0, 255),
thickness=2)
timer_ref = now(
) # reset timer when chessboard isn't viable
else: # show countdown and progess
board1 = drawChessboardCorners(raw, self.boardsize,
corners, ret)
img = board1.copy()
cv_putText(img,
'T-%ds' % timer(), (5, 15),
1,
1, (0, 0, 255),
thickness=2)
cv_putText(img,
'%d/%d' % (sc + 1, nframes), (5, 30),
1,
1, (0, 0, 255),
thickness=2)
# Capture image
if timer() <= 0:
# image saving
self.img_arr[..., sc] = gray.copy()[..., newaxis]
clist.append(board1)
# for camera calibration
self.corners_arr.append(corners)
self.objpoints.append(self.objp)
# program progess/display
img = zeros(raw.shape, dtype=uint8) + 255 # "flash" camera
sc += 1
timer_ref = now()
# Save images to file
if self.calibpath is None:
self._create_calib_path()
# Create save directories
rawpath = self.calibpath + '/raw'
cpath = self.calibpath + '/corners'
for p in (rawpath, cpath):
if not isdir(p):
if os_exists(p):
logging.warning(
'\'%s\' exists, but is not directory. Overwriting.'
% p)
os_remove(p)
mkdir(p)
for i in range(nframes):
fn_raw = rawpath + ('/f%s' % str(i + 1).zfill(5)) + '.jpg'
fn_c = cpath + ('/f%s' % str(i + 1).zfill(5)) + '.jpg'
cv_imwrite(fn_raw, self.img_arr[..., i],
(IMWRITE_JPEG_QUALITY, 100))
cv_imwrite(fn_c, clist[i], (IMWRITE_JPEG_QUALITY, 100))
# Close Capture
except Exception as e:
logging.error(e)
finally:
cap.release()
destroyAllWindows()
logging.debug('released \'%s\'' % cam)
def livetest(calibs, cam='/dev/psEye', w=320, h=240, fps=100):
"""
Visually inspect calibrations on images actively streaming in from cam.
INPUTS
calibs -- str/CalibratePSEye -- fn to CSV calibrations or object with
calibrations already loaded
(optional)
cam -- str/int -- camera descriptor for VideoCapture; '/dev/psEye'
w -- int -- width (px) to set camera frame; 320
h -- int -- height (px) to set camera frame; 240
fps -- int -- frames per second to set camera; 100
CSV FORMAT
- delimiter: ', '
- no floats, round and convert to int using known precision
- strings in double quotes
INTERFACE
'space' to pause stream, 'q' to quit stream.
"""
# Load calibrations if necessary
if type(calibs) == str:
fn = calibs # resave to overwrite `calibs`
calibs = CalibratePSEye()
calibs.load_calibrations(fn)
if type(calibs) != CalibratePSEye:
raise RuntimeError('\'calibs\' is not type \'CalibratePSEye\'')
# open_camera handles type asserts for camera params
cap = open_camera(cam, w, h, fps)
# Stream undistortion
# try/finally to ensure cap.release() is called
try:
while 1:
ret, raw = cap.read()
if not ret:
logging.warning('failed to read frame from \'%s\'' % cam)
ud = calibs.correct(raw)
# label data for user
cv_putText(raw,
'Space to pause, q to quit', (5, 15),
1,
1, (0, 0, 255),
thickness=2)
cv_putText(ud,
'undistort', (5, 15),
1,
1, (0, 0, 255),
thickness=2)
total = concatenate((raw, ud), axis=0) # 1 frame for cleanliness
cv_imshow('total', total)
press = waitKey(30)
if press == ord('q'):
break
elif press == ord(' '):
if waitKey(-1) == ord('q'):
break
finally:
cap.release()
destroyAllWindows()