def find_board_corners(board_directories):
"""Returns an array of chessboard corners in an image from each distance of 50cm, 100cm
and 450cm in that order."""
print "Finding board corners..."
flags = cv2.CALIB_CB_ADAPTIVE_THRESH
pattern_size = (7,5)
image_coords = []
corner_images = []
for directory in board_directories:
img_name = 'cam1_frame_1.bmp'
print "Finding corners in", os.path.join(directory, img_name)
#board_image = cv2.imread(os.path.join(directory, img_name), cv2.CV_LOAD_IMAGE_COLOR)
board_image = cv2.imread(os.path.join(directory, img_name),0)
(pattern_was_found, corners) = cv2.findChessboardCorners(board_image, pattern_size, flags=flags)
if pattern_was_found:
cv2.cornerSubPix(board_image, corners, (4, 4), (-1, -1), (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 100, 1e-7))
if not pattern_was_found and corners == None:
try:
corners = np.loadtxt(os.path.join(directory, 'cam1_frame_1_corners.txt'),delimiter=',')
pattern_was_found = True
corners = corners.astype('float32')
except IndexError:
print 'No corners found! Please find them yourself in Photoshop'
sys.exit(-1)
if not pattern_was_found and not corners==None:
print "Not all corners found! Find them yourself!"
corners = CornerPicker.main(board_image.copy(), corners)
corner_image = board_image.copy()
corners = corners.squeeze()
cv2.drawChessboardCorners(corner_image, pattern_size, corners, pattern_was_found)
image_coords.append(corners)
corner_images.append(corner_image)
return np.concatenate(image_coords), corner_images
def find_circle_centers(board_directories):
"""Returns an array of chessboard corners in an image from each distance of 50cm, 100cm
and 450cm in that order."""
print "Finding board corners..."
pattern_size = (4,11)
image_coords = []
corner_images = []
for directory in board_directories:
img_name = 'cam1_frame_1.bmp'
print "Finding circles in", os.path.join(directory, img_name)
board_image = cv2.imread(os.path.join(directory, img_name),1) # CHANGED: Loading as RGB
[pattern_was_found,corners] = cv2.findCirclesGridDefault(board_image,pattern_size,flags=cv2.CALIB_CB_ASYMMETRIC_GRID)
corners = corners.squeeze() # CHANGED: moved squeeze to before corner checking instead of after
if not pattern_was_found and corners == None:
try:
corners = np.loadtxt(os.path.join(directory, 'cam1_frame_1_corners.txt'),delimiter=',')
pattern_was_found = True
corners = corners.astype('float32')
except IndexError:
print 'No corners found! Please find them yourself in Photoshop'
sys.exit(-1)
if not pattern_was_found and not corners==None:
print "Not all corners found! Find them yourself!"
corners = CornerPicker.main(board_image.copy(), corners, pattern_size)
corner_image = board_image.copy()
cv2.drawChessboardCorners(corner_image, pattern_size, corners, pattern_was_found)
cv2.imwrite('./tmp.png',corner_image)
image_coords.append(corners)
corner_images.append(corner_image)
return np.concatenate(image_coords), corner_images
