194 lines
6.9 KiB
Python
194 lines
6.9 KiB
Python
#!/usr/bin/env python
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'''
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This is a modified version of opencv's calibrate.py that stores the camera
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parameters in the YAML format required by ArUco. an example of this format
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is given by:
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%YAML:1.0
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calibration_time: "Sa 08 Aug 2015 16:32:35 CEST"
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nr_of_frames: 30
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image_width: 752
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image_height: 480
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board_width: 8
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board_height: 6
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square_size: 24.
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fix_aspect_ratio: 1.
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# flags: +fix_aspect_ratio +fix_principal_point +zero_tangent_dist
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flags: 14
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camera_matrix: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [ 418.164617459, 0., 372.480325679, 0., 417.850564673, 229.985538918, 0., 0., 1.]
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distortion_coefficients: !!opencv-matrix
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rows: 5
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cols: 1
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dt: d
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data: [ -0.3107371474, 0.1187673445, -0.0002552599, -0.0001158436, -0.0233324616]
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(Reference: https://wiki.mpi-inf.mpg.de/d2/ArUco)
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How to use:
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- Copy and paste this in /<OPENCV_SOURCE_DIR>/samples/python2
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- Run it like
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python calibrate_and_save.py --save "/<PATH_TO_SAVE_CAMERA_MATRIX>/camera.yml" "/<PATH_TO_IMAGE_DIR>/*.png"
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- Then you can use ArUco like
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./<PATH_TO_ARUCO_SRC>/build/utils/aruco_test_gl live /<PATH_TO_SAVE_CAMERA_MATRIX>/camera.yml 0.039
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More on calibration: http://www.janeriksolem.net/2014/05/how-to-calibrate-camera-with-opencv-and.html
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UPDATE:
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Alternatively, you can follow the steps below
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- After disabling integrated webcam:
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echo "0" > /sys/bus/usb/devices/2-1.6/bConfigurationValue
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(need to first find which usb device corresponds to your webcam)
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- Plug in pupil tracker and use the official precompiled cpp script like:
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/<PATH_TO_OPENCV>/build/bin/cpp-example-calibration -w 8 -h 6 -s 0.039 -o camera.yml -op
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'''
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import time
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import numpy as np
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import cv2, cv
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import os
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from common import splitfn
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def saveCameraParams(save_dir, nframes, w, h, bw, bh, square_size,
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camera_matrix, distortion_coefficients, fix_aspect_ratio = None, flags = 0):
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time_str = time.strftime('%a %d %b %Y %H:%M:%S %Z')
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lines = []
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lines.append('%YAML:1.0')
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lines.append('calibration_time: "%s"' %time_str)
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lines.append('nframes: %s' %nframes)
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lines.append('image_width: %s' %w)
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lines.append('image_height: %s' %h)
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lines.append('board_width: %s' %bw)
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lines.append('board_height: %s' %bh)
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lines.append('square_size: %s' %square_size)
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if fix_aspect_ratio:
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lines.append('fix_aspect_ratio: %s' %fix_aspect_ratio)
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lines.append('flags: %s' %flags)
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lines.append('camera_matrix: !!opencv-matrix')
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lines.append(' rows: 3')
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lines.append(' cols: 3')
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lines.append(' dt: d')
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lines.append(' data: %s' %repr(camera_matrix.reshape(1,9)[0])[6:-1]) # [6:-1] removes "array(" and ")"
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lines.append('distortion_coefficients: !!opencv-matrix')
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lines.append(' rows: 5')
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lines.append(' cols: 1')
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lines.append(' dt: d')
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lines.append(' data: %s' %repr(distortion_coefficients)[6:-1])
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with open(save_dir, 'w') as f:
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f.writelines(map(lambda l: l+'\n', lines))
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def readCameraParams(cam_mat = None):
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'''
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Reads an openCV camera.yml file and returns camera_matrix and distortion_coefficients
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'''
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if not cam_mat:
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cam_mat = CAMERA_MATRIX
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data = ''.join(open(cam_mat.strip(), 'r').readlines()).replace('\n', '').lower()
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try:
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ind1 = data.index('[', data.index('camera_matrix'))
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ind2 = data.index(']', ind1)
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camera_matrix = eval(data[ind1:ind2+1])
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camera_matrix = np.array([camera_matrix[:3],
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camera_matrix[3:6],
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camera_matrix[6:]])
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ind1 = data.index('[', data.index('distortion_coefficients'))
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ind2 = data.index(']', ind1)
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dist_coeffs = np.array(eval(data[ind1:ind2+1]))
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return camera_matrix, dist_coeffs
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except Exception:
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print 'Could not load camera parameters'
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print 'Invalid camera.yml file.'
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if __name__ == '__main__':
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import sys, getopt
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from glob import glob
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args, img_mask = getopt.getopt(sys.argv[1:], '', ['save=', 'debug=', 'square_size='])
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args = dict(args)
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try: img_mask = img_mask[0]
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except: img_mask = '../cpp/left*.jpg'
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# print 'mask is', img_mask
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# img_mask = img_mask.replace('10.png', '*.png')
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img_names = glob(img_mask)
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debug_dir = args.get('--debug')
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square_size = float(args.get('--square_size', 1.0))
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square_size = 0.00122
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save_dir = args.get('--save')
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pattern_size = (8, 6)
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pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 )
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pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2)
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pattern_points *= square_size
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obj_points = []
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img_points = []
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h, w = 0, 0
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for fn in img_names:
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print 'processing %s...' % fn,
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img = cv2.imread(fn, 0)
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h, w = img.shape[:2]
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found, corners = cv2.findChessboardCorners(img, pattern_size)
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if found:
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term = ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1 )
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cv2.cornerSubPix(img, corners, (5, 5), (-1, -1), term)
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if debug_dir:
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vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
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cv2.drawChessboardCorners(vis, pattern_size, corners, found)
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path, name, ext = splitfn(fn)
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cv2.imwrite('%s/%s_chess.bmp' % (debug_dir, name), vis)
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if not found:
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print 'chessboard not found'
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continue
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img_points.append(corners.reshape(-1, 2))
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obj_points.append(pattern_points)
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print 'ok'
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# rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h))
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root_dir = '/home/mmbrian/Pictures/eye_camera_images/'
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cameraMatrixguess, distCoeffsguess = readCameraParams(os.path.join(root_dir,'_camera.yml'))
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print "cameraM: ", cameraMatrixguess
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print "dist: ", distCoeffsguess
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cameraMatrixguess[1][1] = cameraMatrixguess[0][0]
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cameraMatrixguess[0][2] = 320
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cameraMatrixguess[1][2] = 180
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# Calibrate camera intrinsics
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rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w,h),
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cameraMatrixguess, distCoeffsguess, None, None, flags = \
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cv.CV_CALIB_USE_INTRINSIC_GUESS + cv.CV_CALIB_FIX_PRINCIPAL_POINT + cv.CV_CALIB_FIX_ASPECT_RATIO)
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np.save(os.path.join(root_dir,'dist.npy'), dist_coefs)
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np.save(os.path.join(root_dir,'cameraMatrix.npy'), camera_matrix)
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np.savetxt(os.path.join(root_dir,'dist.csv'),np.asarray(dist_coefs), delimiter=";", fmt="%s")
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np.savetxt(os.path.join(root_dir,"cameraMatrix.csv"),np.asarray(camera_matrix), delimiter=";", fmt="%s")
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print "RMS:", rms
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print "camera matrix:\n", camera_matrix
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print "distortion coefficients: ", dist_coefs.ravel()
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print 'Width:', w, 'Height:', h
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print 'nframes:', len(img_names)
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print 'square_size:', square_size
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print 'board_width:', pattern_size[0]
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print 'board_height:', pattern_size[1]
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saveCameraParams(save_dir, len(img_names), w, h, pattern_size[0], pattern_size[1], square_size,
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camera_matrix, dist_coefs.ravel())
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print "Saved camera matrix to", save_dir
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cv2.destroyAllWindows()
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