def calibrate_intrinsic_parameters(calibration_data, calibration_results_file):
"""Calibrate intrinsic parameters of the camera given different images
taken for the Charuco board from different views, the resulting parameters
are saved to the provided filename.
Args:
calibration_data (str): directory of the stored images of the
Charuco board.
calibration_results_file (str): filepath that will be used to write
the calibration results in.
"""
handler = CharucoBoardHandler()
camera_matrix, dist_coeffs, error = handler.calibrate(
calibration_data, visualize=False
)
camera_info = dict()
camera_info["camera_matrix"] = dict()
camera_info["camera_matrix"]["rows"] = 3
camera_info["camera_matrix"]["cols"] = 3
camera_info["camera_matrix"]["data"] = camera_matrix.flatten().tolist()
camera_info["distortion_coefficients"] = dict()
camera_info["distortion_coefficients"]["rows"] = 1
camera_info["distortion_coefficients"]["cols"] = 5
camera_info["distortion_coefficients"][
"data"
] = dist_coeffs.flatten().tolist()
with open(calibration_results_file, "w") as outfile:
yaml.dump(
camera_info, outfile, default_flow_style=False,
)
return
def main():
"""Execute an action depending on arguments passed by the user."""
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"action",
choices=["create_board", "detect_live", "detect_image", "calibrate"],
help="""Action that is executed.""",
)
parser.add_argument(
"--filename",
type=str,
help="""Filename used for saving or loading images (depending on the
action).
""",
)
parser.add_argument(
"--calibration-data",
type=str,
help="""Path to the calibration data directory (only used for action
'calibrate').
""",
)
parser.add_argument(
"--camera-info",
type=str,
help="""Camera info file, including intrinsic parameters.""",
)
parser.add_argument(
"--no-gui",
action="store_true",
help="""Set to disable any GUI-based visualization.""",
)
args = parser.parse_args()
camera_matrix = None
distortion_coeffs = None
if args.camera_info:
camera_info = CameraCalibrationFile(args.camera_info)
camera_matrix = camera_info["camera_matrix"]
distortion_coeffs = camera_info["distortion_coefficients"]
handler = CharucoBoardHandler(
BOARD_SIZE_X,
BOARD_SIZE_Y,
BOARD_SQUARE_SIZE,
BOARD_MARKER_SIZE,
camera_matrix,
distortion_coeffs,
)
if args.action == "create_board":
if not args.filename:
raise RuntimeError("Filename not specified.")
handler.save_board(args.filename)
elif args.action == "detect_live":
handler.detect_board_in_camera_stream()
elif args.action == "detect_image":
if not args.filename:
raise RuntimeError("Filename not specified.")
handler.detect_board_in_image(args.filename, visualize=not args.no_gui)
elif args.action == "calibrate":
pattern = os.path.join(args.calibration_data, args.filename)
files = glob.glob(pattern)
handler.calibrate(
files,
visualize=not args.no_gui,
)