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 run_calibration(self):
min_frames = ApplicationSynced.min_frames_to_calibrate
if self.usable_frame_count < min_frames:
print("Not enough usable frames to calibrate." +
" Need at least {0:d}, got {1:d}".format(
min_frames, self.usable_frame_count))
return
if self.args.test:
print("Testing existing calibration (no output will be saved)...")
else:
print("Calibrating for max. {0:d} iterations...".format(
self.args.max_iterations))
calibrate(self.rig, [video.image_points for video in self.videos],
self.board_object_corner_set, self.args.use_fisheye_model,
self.args.use_rational_model,
self.args.use_tangential_coeffs, self.args.use_thin_prism,
self.args.fix_radial, self.args.fix_thin_prism,
self.args.precalibrate_solo, self.args.stereo_only,
self.args.max_iterations, self.args.input_calibration
is not None, self.args.test)
if len(self.videos) > 1:
if self.args.preview:
l_im = cv2.imread(
osp.join(self.args.folder, self.args.preview_files[0]))
r_im = cv2.imread(
osp.join(self.args.folder, self.args.preview_files[1]))
l_im, r_im = undistort_stereo(self.rig, l_im, r_im)
path_l = osp.join(
self.args.folder,
self.args.preview_files[0][:-4] + "_rect.png")
path_r = osp.join(
self.args.folder,
self.args.preview_files[1][:-4] + "_rect.png")
cv2.imwrite(path_l, l_im)
cv2.imwrite(path_r, r_im)
if not self.args.skip_printing_output:
print(self.rig)
if not self.args.skip_saving_output and not self.args.test:
cio.save_opencv_calibration(
osp.join(self.args.folder, self.args.output), self.rig)
def run_calibration(self):
min_frames = ApplicationSynced.min_frames_to_calibrate
if self.usable_frame_count < min_frames:
print("Not enough usable frames to calibrate." +
" Need at least {0:d}, got {1:d}".format(min_frames, self.usable_frame_count))
return
if self.args.test:
print("Testing existing calibration (no output will be saved)...")
else:
print("Calibrating for max. {0:d} iterations...".format(self.args.max_iterations))
calibrate(self.rig, [video.image_points for video in self.videos],
self.board_object_corner_set,
self.args.use_fisheye_model,
self.args.use_rational_model,
self.args.use_tangential_coeffs,
self.args.use_thin_prism,
self.args.fix_radial,
self.args.fix_thin_prism,
self.args.precalibrate_solo,
self.args.stereo_only,
self.args.max_iterations,
self.args.input_calibration is not None,
self.args.test)
if len(self.videos) > 1:
if self.args.preview:
l_im = cv2.imread(osp.join(self.args.folder, self.args.preview_files[0]))
r_im = cv2.imread(osp.join(self.args.folder, self.args.preview_files[1]))
l_im, r_im = undistort_stereo(self.rig, l_im, r_im)
path_l = osp.join(self.args.folder, self.args.preview_files[0][:-4] + "_rect.png")
path_r = osp.join(self.args.folder, self.args.preview_files[1][:-4] + "_rect.png")
cv2.imwrite(path_l, l_im)
cv2.imwrite(path_r, r_im)
if not self.args.skip_printing_output:
print(self.rig)
if not self.args.skip_saving_output and not self.args.test:
cio.save_opencv_calibration(osp.join(self.args.folder, self.args.output),
self.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 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)
