def __calibrate(self):
'''
Calibrates camera
(run in background)
'''
# check for correct image
if self._img != None:
self.__calibrating = True
self._gui.status("Calibrating ...")
# get values
x = int(str( self._gui.getObj("txtPatternX").text() ))
y = int(str( self._gui.getObj("txtPatternY").text() ))
n = int(str( self._gui.getObj("txtCalibrationFrames").text() ))
square_size = float(str( self._gui.getObj("txtCalibrationSquareSize").text() ))
# calculate distortion
pattern_size = (x, y)
ret = self.__calibrateCorners(pattern_size, n, square_size)
if ret != None:
camera_matrix, dist_coefs = ret
self.__camera_matrix, self.__dist_coefs = camera_matrix, dist_coefs
# undistort image
img = self.undistortImage(self._img)
self.__imgScene = img
self._gui.status("Searching for boders to crop image ...")
# get corners
if ret != None:
found = False
frames = 0;
tries = 0;
while not found and frames < n and tries < 10:
img = self.undistortImage(self._img)
found, corners = getChessBoardCorners( img, pattern_size )
if found:
frames += 1
tries += 1
if found:
self.__corners = getImageSizeFromCorners(corners)
# crop image
self.__imgScene = self.cropImage(img)
self.__calibrated = True
# set calibration flag
self._gui.status("Calibration finished.")
self.__calibrating = False
def __calibrateCorners(self, pattern_size, n, square_size):
'''
Calibrates corners of chessboard
@return: camera_matrix, dist_coefs
'''
pattern_points = zeros( (prod(pattern_size), 3), float32 )
pattern_points[:,:2] = indices(pattern_size).T.reshape(-1, 2)
pattern_points *= square_size
obj_points = []
img_points = []
frames = 0;
tries = 0
lastCount = self._imgCounter;
# detect pattern
while frames < n and tries < 10:
img = self._img
img = cvtColor(img, COLOR_RGB2GRAY)
img = threshold(img, 40, 255, THRESH_BINARY)[1]
img = cvtColor(img, COLOR_GRAY2RGB)
self.__imgScene = img
from time import sleep
sleep(1)
if lastCount != self._imgCounter:
# get corners
print "getchessboardcorners"
found, corners = getChessBoardCorners( img, pattern_size )
print "found", found
# check if corners found
if found:
frames += 1
# get more detailed points and add them to list
img_points.append( corners.reshape(-1, 2) )
obj_points.append( pattern_points )
# draw corners
drawChessboardCorners( img, pattern_size, corners, found )
self.__imgScene = img
tries = 0
tries += 1
# get cmera values
if img != None and len(obj_points) > 0 and len(img_points) > 0:
return getCalibrationData(img, obj_points, img_points )
