def calibrationExample():
camNum =0 # The number of the camera to calibrate
nPoints = 5 # number of images used for the calibration (space presses)
patternSize=(9,6) #size of the calibration pattern
saveImage = False
calibrated, camera_matrix,dist_coefs,rms = SIGBTools.calibrateCamera(camNum,nPoints,patternSize,saveImage)
K = camera_matrix
cam1 =Camera( np.hstack((K,np.dot(K,np.array([[0],[0],[-1]])) )) )
cam1.factor()
#Factor projection matrix into intrinsic and extrinsic parameters
print "K=", cam1.K
print "R=", cam1.R
print "t", cam1.t
if (calibrated):
capture = cv2.VideoCapture(camNum)
running = True
while running:
running, img =capture.read()
imgGray=cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ch = cv2.waitKey(1)
if(ch==27) or (ch==ord('q')): #ESC
running = False
img=cv2.undistort(img, camera_matrix, dist_coefs )
found,corners=cv2.findChessboardCorners(imgGray, patternSize )
if (found!=0):
cv2.drawChessboardCorners(img, patternSize, corners,found)
cv2.imshow("Calibrated",img)
def calibrationExample():
camNum = 0 # The number of the camera to calibrate
nPoints = 5 # number of images used for the calibration (space presses)
patternSize = (9, 6) #size of the calibration pattern
saveImage = 'calibrationShoots'
calibrated, camera_matrix, dist_coefs, rms = SIGBTools.calibrateCamera(
camNum, nPoints, patternSize, saveImage)
K = camera_matrix
cam1 = Camera(np.hstack((K, np.dot(K, np.array([[0], [0], [-1]])))))
cam1.factor()
#Factor projection matrix into intrinsic and extrinsic parameters
print "K=", cam1.K
print "R=", cam1.R
print "t", cam1.t
if (calibrated):
capture = cv2.VideoCapture(camNum)
running = True
while running:
running, img = capture.read()
imgGray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ch = cv2.waitKey(1)
if (ch == 27) or (ch == ord('q')): #ESC
running = False
img = cv2.undistort(img, camera_matrix, dist_coefs)
found, corners = cv2.findChessboardCorners(imgGray, patternSize)
if (found != 0):
cv2.drawChessboardCorners(img, patternSize, corners, found)
cv2.imshow("Calibrated", img)
def augmentImage(imagesNr):
patternSize=(9,6) #size of the calibration pattern
camNum =0 # The number of the camera to calibrate
camera_matrix = np.load('PMatrix.npy')
dist_coefs = np.load('distCoef.npy')
#loads the video
capture = cv2.VideoCapture(camNum)
running = True
idx = np.array([1,7,37,43])
#while the video is running
while running:
images=[]
#Gets all calibrated images.
for i in range(imagesNr):
file="CalibrationImage"+str(i+1)+".jpg"
images.append(cv2.imread(file))
running, img =capture.read()
imgGray=cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
#find chessBoardCorners
found,corners=cv2.findChessboardCorners(imgGray, patternSize)
if (found!=0): #if the corners are found.
srcPoints=[]
for i in idx:
srcPoints.append(corners[i][0]) # store points
for i in range(len(images)):
imgGray=cv2.cvtColor(images[i], cv2.COLOR_BGR2GRAY)
nothing,calCorners=cv2.findChessboardCorners(imgGray, patternSize) #for each calibration image find the corners and paint.
calPoints=[];
width=(srcPoints[0][0]-srcPoints[1][0])/(srcPoints[1][0]-srcPoints[1][1])
for j in idx:
calPoints.append(calCorners[j][0]);
ip1 = np.array([[x,y] for (x,y) in srcPoints])#convert points for both src and cal points to np.array().
ip2 =np.array([[x,y] for (x,y) in calPoints])#convert points for both src and cal points to np.array().
H, mask =cv2.findHomography(ip1, ip2)#finds the homography from the two point sets.
cam1 = Camera( np.hstack((camera_matrix,np.dot(camera_matrix,np.array([[0],[0],[-1]])))))
cam2 = Camera(np.dot(H,cam1.P))
A = dot(np.linalg.inv(camera_matrix),cam2.P[:,:3])
A = array([A[:,0],A[:,1],cross(A[:,0],A[:,1])]).T
cam2.P[:,:3] = dot(camera_matrix,A)
box=cube_points((0,0,0,1),0.1)
box_cam1=cam1.project(SIGBTools.toHomogenious(box[:,:5]))
box_cam2=cam2.project(SIGBTools.toHomogenious(box))
linePoints=[]
for j in range(len(box_cam2[0])/2):
p1=(int(box_cam2[0][j]),int(box_cam2[1][j]));
linePoints.append(p1)
cv2.circle(img,p1 , 5, (0,0,255))
cv2.circle(images[i],p1 , 5, (0,0,255))
for j in range(len(linePoints)):
for k in range(len(linePoints)):
cv2.line(img, linePoints[j], linePoints[k], (0,0,255))
cv2.line(images[i], linePoints[j], linePoints[k], (0,0,255))
fileName = 'ArgumentedCalibrationImage'+str(i+1)+".jpg"
cv2.imwrite(fileName, images[i])
#print("HOMOGRAPHY FOR IMAGE"+str(j)+": "+str(H))
ch = cv2.waitKey(1)
if(ch==27) or (ch==ord('q')): #ESC
running = False
cv2.namedWindow(str(i)+" Image")
cv2.imshow(str(i)+" Image",img)
def augmentImages():
'''
We augment arbitrary images with the chessboard with a cube
using a two-camera approach
'''
# load calibration
cam_calibration, distCoef = loadCameraCalibration()
# choose points on the chessboard pattern
idx = np.array([1, 7, 37, 43])
# load calibration pattern and transform the image
calibration_pattern = cv2.imread("Images/CalibrationPattern.png")
calibration_pattern = cv2.resize(calibration_pattern, (640, 480))
calibration_pattern = cv2.cvtColor(calibration_pattern, cv2.COLOR_BGR2GRAY)
# get corners from the calibration pattern
found, calibrationCorners = cv2.findChessboardCorners(calibration_pattern, (9, 6))
# load images to be augmented
images = []
for i in range(1, 8):
images.append(cv2.imread("Solutions/cam_calibration{}.jpg".format(i)))
# augment the images one by one
for image_id, image in enumerate(images):
# find the same corners as we had found previously in the
# chessboard pattern itself, only this one is in the video
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
found, corners = cv2.findChessboardCorners(gray, (9, 6))
if not found:
continue
# load up coords in the respective images
imagePoints = []
calibrationPoints = []
for i in idx:
p = corners[i][0]
cp = calibrationCorners[i][0]
imagePoints.append(p)
calibrationPoints.append(cp)
imagePoints = np.array(imagePoints)
calibrationPoints = np.array(calibrationPoints)
# cv2.imshow('calibration image', calibration_pattern)
# Create 1st camera, this one is looking at the pattern image
cam1 = Camera(hstack((cam_calibration, dot(cam_calibration, np.array([[0], [0], [-1]])))))
cam1.factor()
# Create the cube
cube = cube_points([0, 0, 0.1], 0.3)
# Project the bottom square of the cube, this will transform
# point coordinates from the object space to the calibration
# world space where the camera looks
calibration_rect = cam1.project(SIGBTools.toHomogenious(cube[:, :5]))
# Calculate the homography from the corners in the calibration image
# to the same points in the image that we want to project the cube to
homography = SIGBTools.estimateHomography(calibrationPoints, imagePoints)
# Transform the rect from the calibration image world space to the final
# image world space
transRect = SIGBTools.normalizeHomogenious(dot(homography, calibration_rect))
# Create the second camera, looking into the world of the final image
cam2 = Camera(dot(homography, cam1.P))
# Recalculate the projection matrix
calibrationInverse = np.linalg.inv(cam_calibration)
rot = dot(calibrationInverse, cam2.P[:, :3])
# reassemble the rotation translation matrix
r1, r2, t = tuple(np.hsplit(rot, 3))
r3 = cross(r1.T, r2.T).T
rotationTranslationMatrix = np.hstack((r1, r2, r3, t))
# Create the projection matrix
cam2.P = dot(cam_calibration, rotationTranslationMatrix)
cam2.factor()
# project the cube using the 2nd camera
cube = cube_points([0, 0, 0.1], 0.3)
box = cam2.project(SIGBTools.toHomogenious(cube))
for i in range(1, 17):
x1 = box[0, i - 1]
y1 = box[1, i - 1]
x2 = box[0, i]
y2 = box[1, i]
cv2.line(image, (int(x1), int(y1)), (int(x2), int(y2)), (0, 0, 255), 2)
# save image
cv2.imwrite("Solutions/augmentation{}.png".format(image_id), image)
cv2.imshow("Test", image)
cv2.waitKey(0)
def update(img):
cv2.namedWindow('Web cam')
camera_matrix = np.load('numpyData/camera_matrix.npy')
chessSquare_size = np.load('numpyData/chessSquare_size.npy')
dist_coefs = np.load('numpyData/distortionCoefficient.npy')
img_points = np.load('numpyData/img_points.npy')
img_points_first = np.load('numpyData/img_points_first.npy')
obj_points = np.load('numpyData/obj_points.npy')
rotatioVectors = np.load('numpyData/rotatioVectors.npy')
translationVectors = np.load('numpyData/translationVectors.npy')
calImg=cv2.imread("01.png")
pattern_size = (9, 6)
idx = [0,8,45,53]
image=copy(img)
calCorners=[]
img_points_first=np.asarray(img_points_first, np.float32)
imageWhite = cv2.imread("Images/white.jpg")
imageDown = cv2.imread("Images/Down.jpg")
imageFaces = cv2.imread("Images/faces.psd")
imageLeft = cv2.imread("Images/Left.jpg")
imageRight = cv2.imread("Images/Right.jpg")
imageTop = cv2.imread("Images/Top.jpg")
imageUp = cv2.imread("Images/Up.jpg")
textures = []
textures.append(imageTop)
textures.append(imageLeft)
textures.append(imageRight)
textures.append(imageDown)
textures.append(imageUp)
textures.append(imageFaces)
for i in idx:
calCorners.append(img_points_first[i])
inputKey = cv2.waitKey(1)
if Undistorting: #Use previous stored camera matrix and distortion coefficient to undistort the image
image=cv2.undistort(image, camera_matrix, dist_coefs)
if (ProcessFrame):
imgCorners=[]
patternFound, imgPoints = cv2.findChessboardCorners(image, pattern_size)
if patternFound:
if ShowText:
cv2.putText(image,str("frame:" + str(frameNumber)), (20,10),cv2.FONT_HERSHEY_PLAIN,1, (255, 255, 255))#Draw the text
imgCorners=[]
for i in idx:
imgCorners.append(imgPoints[i][0])
imgPoints=np.asarray(imgPoints, np.float32)
ip1 = np.array([[x,y] for (x,y) in calCorners])
ip2 = np.array([[x,y] for (x,y) in imgCorners])
H, mask =cv2.findHomography(ip1, ip2)#finds the homography from the two point sets.
if debug:
pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 )
pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2)
pattern_points *= chessSquare_size
obj_points = [pattern_points]
obj_points.append(pattern_points)
obj_points = np.array(obj_points,np.float64).T
obj_points=obj_points[:,:,0].T
found,rvecs_new,tvecs_new = GetObjectPos(obj_points, imgPoints,camera_matrix,dist_coefs);
if found:
rt = np.hstack((cv2.Rodrigues(rvecs_new)[0],tvecs_new))
cam2 = Camera(np.dot(camera_matrix, rt))
cam2.factor()
else:
rotationVector=np.array(rotatioVectors)[0]
translationVector=np.array(translationVectors)[0]
rt = np.hstack((cv2.Rodrigues(rotationVector)[0], translationVector))
cam2 = Camera( np.dot(H, rt))
#loads the background
backGround=copy(image)
backup=copy(image)
boxCam=cam2.project(toHomogenious(box))
i = array([ [0,0,0,0],[1,1,1,1] ,[2,2,2,2] ]) # indices for the first dim
j = array([ [0,3,2,1],[0,3,2,1] ,[0,3,2,1] ]) # indices for the second dim
TopF = box[i,j]
TopFace = boxCam[i,j]
i = array([ [0,0,0,0],[1,1,1,1] ,[2,2,2,2] ]) # indices for the first dim
j = array([ [3,8,7,2],[3,8,7,2] ,[3,8,7,2] ]) # indices for the second dim
RightF = box[i,j]
RightFace = boxCam[i,j]
i = array([ [0,0,0,0],[1,1,1,1] ,[2,2,2,2] ]) # indices for the first dim
j = array([ [5,0,1,6],[5,0,1,6] ,[5,0,1,6] ]) # indices for the second dim
LeftF = box[i,j]
LeftFace = boxCam[i,j]
i = array([ [0,0,0,0],[1,1,1,1] ,[2,2,2,2] ]) # indices for the first dim
j = array([ [5,8,3,0], [5,8,3,0] , [5,8,3,0] ]) # indices for the second dim
UpF = box[i,j]
UpFace = boxCam[i,j]
i = array([ [0,0,0,0],[1,1,1,1] ,[2,2,2,2] ]) # indices for the first dim
j = array([ [1,2,7,6], [1,2,7,6], [1,2,7,6] ]) # indices for the second dim
DownF = box[i,j]
DownFace = boxCam[i,j]
imagePoints = []
mTex,nTex,h = textures[0].shape
imageWhite=cv2.resize(imageWhite, (mTex,nTex))
TopFace=np.array(TopFace)
RightFace=np.array(RightFace)
LeftFace=np.array(LeftFace)
UpFace=np.array(UpFace)
DownFace=np.array(DownFace)
imagePoints.append([(float(TopFace[0][0]),float(TopFace[1][0])),
(float(TopFace[0][1]),float(TopFace[1][1])),
(float(TopFace[0][3]),float(TopFace[1][3])),
(float(TopFace[0][2]),float(TopFace[1][2]))])
imagePoints.append([(float(RightFace[0][0]),float(RightFace[1][0])),
(float(RightFace[0][1]),float(RightFace[1][1])),
(float(RightFace[0][3]),float(RightFace[1][3])),
(float(RightFace[0][2]),float(RightFace[1][2]))])
imagePoints.append([(float(LeftFace[0][0]),float(LeftFace[1][0])),
(float(LeftFace[0][1]),float(LeftFace[1][1])),
(float(LeftFace[0][3]),float(LeftFace[1][3])),
(float(LeftFace[0][2]),float(LeftFace[1][2]))])
imagePoints.append([(float(UpFace[0][0]),float(UpFace[1][0])),
(float(UpFace[0][1]),float(UpFace[1][1])),
(float(UpFace[0][3]),float(UpFace[1][3])),
(float(UpFace[0][2]),float(UpFace[1][2]))])
imagePoints.append([(float(DownFace[0][0]),float(DownFace[1][0])),
(float(DownFace[0][1]),float(DownFace[1][1])),
(float(DownFace[0][3]),float(DownFace[1][3])),
(float(DownFace[0][2]),float(DownFace[1][2]))])
points=[]
if ProjectPattern:
for i in range(len(imagePoints)):
points.append(np.array([[x,y] for (x,y) in imagePoints[i]]))
points=np.array(points)
homographies=[]
ip1=np.array([(float(0),float(0)),(float(nTex),float(0)),(float(0),mTex),(float(nTex),float(mTex))])
for i in points:
Ht,mask = cv2.findHomography(ip1, i)
homographies.append(Ht)
nI, mI , jI = image.shape
overlays=[]
whiteOverlays=[]
counter=0
for i in homographies:
overlays.append(cv2.warpPerspective(textures[counter], i,(mI,nI)))
whiteOverlays.append(cv2.warpPerspective(imageWhite, i,(mI,nI)))
counter=counter+1
#splits the background finding color and shape.
[RbackGround,GbackGround,BbackGround]=cv2.split(backGround)
backGround=cv2.cvtColor(backGround, cv2.COLOR_RGB2GRAY)
(w,h)= shape(backGround)
[R,G,B]=cv2.split(image)
sub = cv2.addWeighted(cv2.absdiff(G, GbackGround), 0.5, cv2.absdiff(R, RbackGround), 0.5, 0)
sub = cv2.addWeighted(sub, 0.5, cv2.absdiff(B, BbackGround), 0.25, 0)
textureImg=cv2.subtract(backup, backup)
for i in whiteOverlays:
textureImg = cv2.addWeighted(textureImg, 1, i, 1,0)
textureImg=cv2.add(textureImg, textureImg)
(thresh, sub) = cv2.threshold( sub, 255, 255, cv2.THRESH_BINARY )
msk2=255-sub
msk2=cv2.cvtColor(msk2, cv2.COLOR_GRAY2RGB)
sub=cv2.cvtColor(sub, cv2.COLOR_GRAY2RGB)
image=cv2.subtract(image, textureImg)
result=copy(image)
backup=copy(image)
TopFaceCornerNormals, RightFaceCornerNormals, LeftFaceCornerNormals, UpFaceCornerNormals, DownFaceCornerNormals=CalculateFaceCornerNormals(TopFace,RightFace,LeftFace,UpFace,DownFace)
shades = np.array([[TopF, TopFaceCornerNormals],[RightF, RightFaceCornerNormals],[LeftF, LeftFaceCornerNormals],[UpF, UpFaceCornerNormals],[DownF, DownFaceCornerNormals]])
counter = 0
#print boxCam
type = np.array(['top','right','left','up','down'])
for i in overlays:
image=copy(backup)
image = cv2.addWeighted(image, 1, i, 1,0)
if Shading:
image, visible = ShadeFace(image,shades[counter][0],shades[counter][1],cam2, type[counter])
if visible:
result=cv2.bitwise_or(result, image)
else:
result=cv2.bitwise_or(result, image)
counter = counter+1
image=result
b = np.array(boxCam)
else:
for i in range(len(imagePoints)):
for j in range(1,4):
cv2.line(image, (int(imagePoints[i][j][0]), int(imagePoints[i][j][1])),(int(imagePoints[i][j-1][0]),int(imagePoints[i][j-1][1])),(0,0,255) , 1)
cv2.line(image, (int(imagePoints[i][j-1][0]), int(imagePoints[i][j-1][1])),(int(imagePoints[i][4-j][0]),int(imagePoints[i][4-j][1])),(0,0,255) , 1)
cv2.imshow('Web cam', image)
