def create_detector_drawer_circles():
rows = 5
cols = 3
square_size = 0.04 #4 cm
pattern_type = ASYMMETRIC_CIRCLES_GRID
return (PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size),
PatternDrawer(rows=rows, cols=cols))
def create_detector_drawer_chessboard():
rows = 7
cols = 6
square_size = 0.108 #108 mmc
pattern_type = CHESSBOARD
return (PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size),
PatternDrawer(rows=rows, cols=cols))
image_reader = ImageReader(file_list=ecto.list_of_strings(args.images))
rows = 4
cols = 5
square_size = 0.025 #2.5 cm
pattern_type = CHESSBOARD
rgb2gray = cvtColor(flag=Conversion.RGB2GRAY)
detector = PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size)
pattern_drawer = PatternDrawer(rows=rows, cols=cols)
camera_intrinsics = CameraIntrinsics(camera_file=args.camera)
poser = FiducialPoseFinder()
pose_drawer = PoseDrawer()
plasm = ecto.Plasm()
plasm.connect(
image_reader['image'] >> (pattern_drawer['input'], rgb2gray['image']),
rgb2gray['image'] >> detector['input'],
detector['ideal', 'out', 'found'] >> poser['ideal', 'points', 'found'],
camera_intrinsics['K'] >> poser['K'],
detector['out', 'found'] >> pattern_drawer['points', 'found'],
poser['R', 'T'] >> pose_drawer['R', 'T'],
poser['R'] >> MatPrinter(name='R')['mat'],
poser['T'] >> MatPrinter(name='T')['mat'],
pattern_drawer['out'] >> pose_drawer['image'],
camera_intrinsics['K'] >> pose_drawer['K'],
rows = 5
cols = 3
square_size = 0.04 #4 cm
pattern_type = ASYMMETRIC_CIRCLES_GRID
n_obs = 50
calibration_file = 'camera_new.yml'
video = VideoCapture(video_device=0)
rgb2gray = cvtColor(flag=Conversion.RGB2GRAY)
circle_detector = PatternDetector(rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size)
camera_calibrator = CameraCalibrator(output_file_name=calibration_file,
n_obs=n_obs)
circle_drawer = PatternDrawer(rows=rows, cols=cols)
plasm = ecto.Plasm()
plasm.connect(
video['image'] >>
(circle_drawer['input'], camera_calibrator['image'], rgb2gray['image']),
rgb2gray['image'] >> circle_detector['input'],
circle_drawer['out'] >> imshow(name='pattern')['image'],
circle_detector['ideal', 'out',
'found'] >> camera_calibrator['ideal', 'points', 'found'],
circle_detector['out', 'found'] >> circle_drawer['points', 'found'],
)
if __name__ == '__main__':
from ecto.opts import doit
doit(plasm, description='Calibrate a camera using a dot pattern.')