Created
February 6, 2019 18:59
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import os | |
import cv2 as cv | |
import numpy as np | |
def splitfn(fn): | |
path, fn = os.path.split(fn) | |
name, ext = os.path.splitext(fn) | |
return path, name, ext | |
if __name__ == '__main__': | |
import sys | |
import getopt | |
from glob import glob | |
args, img_mask = getopt.getopt(sys.argv[1:], '', ['debug=', 'square_size=', 'threads=']) | |
args = dict(args) | |
args.setdefault('--debug', './output/') | |
args.setdefault('--square_size', 1.0) | |
args.setdefault('--threads', 4) | |
if not img_mask: | |
img_mask = '../data/left??.jpg' # default | |
else: | |
img_mask = img_mask[0] | |
img_names = glob(img_mask) | |
debug_dir = args.get('--debug') | |
if debug_dir and not os.path.isdir(debug_dir): | |
os.mkdir(debug_dir) | |
square_size = float(args.get('--square_size')) | |
pattern_size = (9, 6) | |
pattern_points = np.zeros((np.prod(pattern_size), 3), np.float32) | |
pattern_points[:, :2] = np.indices(pattern_size).T.reshape(-1, 2) | |
pattern_points *= square_size | |
obj_points = [] | |
img_points = [] | |
h, w = cv.imread(img_names[0], cv.IMREAD_GRAYSCALE).shape[:2] # TODO: use imquery call to retrieve results | |
def processImage(fn): | |
print('processing %s... ' % fn) | |
img = cv.imread(fn, 0) | |
if img is None: | |
print("Failed to load", fn) | |
return None | |
assert w == img.shape[1] and h == img.shape[0], ("size: %d x %d ... " % (img.shape[1], img.shape[0])) | |
found, corners = cv.findChessboardCorners(img, pattern_size) | |
if found: | |
term = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_COUNT, 30, 0.1) | |
cv.cornerSubPix(img, corners, (5, 5), (-1, -1), term) | |
if debug_dir: | |
vis = cv.cvtColor(img, cv.COLOR_GRAY2BGR) | |
cv.drawChessboardCorners(vis, pattern_size, corners, found) | |
_path, name, _ext = splitfn(fn) | |
outfile = os.path.join(debug_dir, name + '_chess.png') | |
cv.imwrite(outfile, vis) | |
if not found: | |
print('chessboard not found') | |
return None | |
print(' %s... OK' % fn) | |
return corners.reshape(-1, 2), pattern_points | |
threads_num = int(args.get('--threads')) | |
if threads_num <= 1: | |
chessboards = [processImage(fn) for fn in img_names] | |
else: | |
print("Run with %d threads..." % threads_num) | |
from multiprocessing.dummy import Pool as ThreadPool | |
pool = ThreadPool(threads_num) | |
chessboards = pool.map(processImage, img_names) | |
chessboards = [x for x in chessboards if x is not None] | |
for (corners, pattern_points) in chessboards: | |
img_points.append(corners) | |
obj_points.append(pattern_points) | |
# calculate camera distortion | |
rms, camera_matrix, dist_coefs, rvecs, tvecs = cv.calibrateCamera(obj_points, img_points, (w, h), None, None) | |
print("\nRMS:", rms) | |
print("camera matrix:\n", camera_matrix) | |
print("distortion coefficients: ", dist_coefs.ravel()) | |
# undistort the image with the calibration | |
print('') | |
for fn in img_names if debug_dir else []: | |
path, name, ext = splitfn(fn) | |
img_found = os.path.join(debug_dir, name + '_chess.png') | |
outfile = os.path.join(debug_dir, name + '_undistorted.png') | |
img = cv.imread(img_found) | |
if img is None: | |
continue | |
h, w = img.shape[:2] | |
newcameramtx, roi = cv.getOptimalNewCameraMatrix(camera_matrix, dist_coefs, (w, h), 1, (w, h)) | |
dst = cv.undistort(img, camera_matrix, dist_coefs, None, newcameramtx) | |
# crop and save the image | |
# print(roi) | |
x, y, w, h = roi | |
dst = dst[y:y + h, x:x + w] | |
print('Undistorted image written to: %s' % outfile) | |
cv.imwrite(outfile, dst) | |
cv.destroyAllWindows() |
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