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comparison python/cvutils.py @ 544:749672171789

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added function to calibrate a camera intrinsic parameters
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 08 Jul 2014 15:32:47 -0400
parents bd1ad468e928
children 9816fab353f3
comparison
equal deleted inserted replaced
543:cb213269d330 544:749672171789
119 newCameraMatrix[1,2] = newImgSize[1]/2. 119 newCameraMatrix[1,2] = newImgSize[1]/2.
120 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1) 120 return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), identity(3), newCameraMatrix, newImgSize, cv2.CV_32FC1)
121 121
122 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.): 122 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.):
123 '''Plays the video''' 123 '''Plays the video'''
124 windowName = 'frame'
125 cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
124 wait = 5 126 wait = 5
125 if frameRate > 0: 127 if frameRate > 0:
126 wait = int(round(1000./frameRate)) 128 wait = int(round(1000./frameRate))
127 if interactive: 129 if interactive:
128 wait = 0 130 wait = 0
138 if printFrames: 140 if printFrames:
139 print('frame {0}'.format(frameNum)) 141 print('frame {0}'.format(frameNum))
140 frameNum+=1 142 frameNum+=1
141 if text != None: 143 if text != None:
142 cv2.putText(img, text, (10,50), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed) 144 cv2.putText(img, text, (10,50), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
143 cvImshow('frame', img, rescale) 145 cvImshow(windowName, img, rescale)
144 key = cv2.waitKey(wait) 146 key = cv2.waitKey(wait)
145 cv2.destroyAllWindows() 147 cv2.destroyAllWindows()
146 else: 148 else:
147 print('Video capture for {} failed'.format(filename)) 149 print('Video capture for {} failed'.format(filename))
148 150
217 from math import ceil, log10 219 from math import ceil, log10
218 220
219 capture = cv2.VideoCapture(videoFilename) 221 capture = cv2.VideoCapture(videoFilename)
220 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH)) 222 width = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH))
221 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT)) 223 height = int(capture.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT))
224
225 windowName = 'frame'
226 #cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
222 227
223 if undistort: # setup undistortion 228 if undistort: # setup undistortion
224 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) 229 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
225 if capture.isOpened(): 230 if capture.isOpened():
226 key = -1 231 key = -1
257 objDescription = '{} '.format(obj.num) 262 objDescription = '{} '.format(obj.num)
258 if userTypeNames[obj.userType] != 'unknown': 263 if userTypeNames[obj.userType] != 'unknown':
259 objDescription += userTypeNames[obj.userType][0].upper() 264 objDescription += userTypeNames[obj.userType][0].upper()
260 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed) 265 cv2.putText(img, objDescription, obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.cv.CV_FONT_HERSHEY_PLAIN, 1, cvRed)
261 if not saveAllImages: 266 if not saveAllImages:
262 cvImshow('frame', img, rescale) 267 cvImshow(windowName, img, rescale)
263 key = cv2.waitKey() 268 key = cv2.waitKey()
264 if saveAllImages or saveKey(key): 269 if saveAllImages or saveKey(key):
265 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img) 270 cv2.imwrite('image-{{:0{}}}.png'.format(nZerosFilename).format(frameNum), img)
266 frameNum += nFramesStep 271 frameNum += nFramesStep
267 if nFramesStep > 1: 272 if nFramesStep > 1:
322 res = undistortedCoordinates(x,y, map1, map2) 327 res = undistortedCoordinates(x,y, map1, map2)
323 if not isnan(res).any(): 328 if not isnan(res).any():
324 invMap1[y,x] = res[0] 329 invMap1[y,x] = res[0]
325 invMap2[y,x] = res[1] 330 invMap2[y,x] = res[1]
326 return invMap1, invMap2 331 return invMap1, invMap2
332
333 def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
334 ''' Camera calibration searches through all the images (jpg or png) located
335 in _path_ for matches to a checkerboard pattern of size checkboardSize.
336 These images should all be of the same camera with the same resolution.
337
338 For best results, use an asymetric board and ensure that the image has
339 very high contrast, including the background. Suitable checkerboard:
340 http://ftp.isr.ist.utl.pt/pub/roswiki/attachments/camera_calibration(2f)Tutorials(2f)StereoCalibration/check-108.png
341
342 The code below is based off of:
343 https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html
344 Modified by Paul St-Aubin
345 '''
346 from numpy import zeros, mgrid, float32, savetxt
347 import glob, os
348
349 # termination criteria
350 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
351
352 # prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
353 objp = zeros((checkerBoardSize[0]*checkerBoardSize[1],3), float32)
354 objp[:,:2] = mgrid[0:checkerBoardSize[1],0:checkerBoardSize[0]].T.reshape(-1,2)
355
356 # Arrays to store object points and image points from all the images.
357 objpoints = [] # 3d point in real world space
358 imgpoints = [] # 2d points in image plane.
359
360 ## Loop throuhg all images in _path_
361 images = glob.glob(os.path.join(path,'*.[jJ][pP][gG]'))+glob.glob(os.path.join(path,'*.[jJ][pP][eE][gG]'))+glob.glob(os.path.join(path,'*.[pP][nN][gG]'))
362 for fname in images:
363 img = cv2.imread(fname)
364 gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
365
366 # Find the chess board corners
367 ret, corners = cv2.findChessboardCorners(gray, (checkerBoardSize[1],checkerBoardSize[0]), None)
368
369 # If found, add object points, image points (after refining them)
370 if ret:
371 print 'Found pattern in '+fname
372
373 if(secondPassSearch):
374 corners = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
375
376 objpoints.append(objp)
377 imgpoints.append(corners)
378
379 # Draw and display the corners
380 if(display):
381 img = cv2.drawChessboardCorners(img, (checkerBoardSize[1],checkerBoardSize[0]), corners, ret)
382 if(img):
383 cv2.imshow('img',img)
384 cv2.waitKey(0)
385
386 ## Close up image loading and calibrate
387 cv2.destroyAllWindows()
388 if len(objpoints) == 0 or len(imgpoints) == 0:
389 return False
390 try:
391 ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
392 except NameError:
393 return False
394 savetxt('intrinsic-camera.txt', camera_matrix)
395 return camera_matrix, dist_coeffs
327 396
328 def printCvMat(cvmat, out = stdout): 397 def printCvMat(cvmat, out = stdout):
329 '''Prints the cvmat to out''' 398 '''Prints the cvmat to out'''
330 print('Deprecated, use new interface') 399 print('Deprecated, use new interface')
331 for i in xrange(cvmat.rows): 400 for i in xrange(cvmat.rows):