diff --git a/00-find-corners.py b/00-find-corners.py new file mode 100644 index 0000000..2b5a5d6 --- /dev/null +++ b/00-find-corners.py @@ -0,0 +1,102 @@ +''' +Find camera intrinsicts: +camera matrix and distortion coefficients +Largely a copy from https://longervision.github.io/2017/03/16/ComputerVision/OpenCV/opencv-internal-calibration-chessboard/ + + +Usage: + +1. Set dataset variable to point to a directory containing chessboard.mp4 +2. make sure CHECKERBOARD has the nr of corners in the printed board used. Use (6,9) for https://github.com/opencv/opencv/blob/4.x/doc/pattern.png +3. Scripts creates a `calibration.json` in the dataset folder + +''' + +from pathlib import Path +import numpy as np +import cv2 +import json +import tqdm +import math + +dataset = Path('hof3-cam-baumer') + +# set needed detections. Use math.inf to scan the whole video +needed_detections = math.inf # 20 + +# Defining the dimensions of checkerboard +CHECKERBOARD = (6,9) + +# termination criteria +criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) + + +# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) +objp = np.zeros((CHECKERBOARD[0] * CHECKERBOARD[1],3), np.float32) +objp[:,:2] = np.mgrid[0:CHECKERBOARD[0],0:CHECKERBOARD[1]].T.reshape(-1,2) + +# Arrays to store object points and image points from all the images. +objpoints = [] # 3d point in real world space +imgpoints = [] # 2d points in image plane. + +videofile = dataset / "chessboard7.mp4" +cap = cv2.VideoCapture(videofile) + +frame_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) +frame_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) +dim = { + 'width': frame_width, + 'height': frame_height, +} +found = 0 + +p = tqdm.tqdm() +p2 = tqdm.tqdm(total=needed_detections) + +first_found=False +no_frames_for = 0 + +while ((found < needed_detections) if math.isfinite(needed_detections) else True): + ret, img = cap.read() # Capture frame-by-frame + if not ret: + break + + p.update() + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + + # Find the chess board corners + ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD,None) + + # If found, add object points, image points (after refining them) + if ret == True: + if not first_found: + first_found = True + print(f"first at {p.n}") + no_frames_for = 0 + objpoints.append(objp) # Certainly, every loop objp is the same, in 3D. + corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria) + imgpoints.append(corners2) + p2.update() + p2.n + + # Draw and display the corners + img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2, ret) + found += 1 + else: + no_frames_for += 1 + + if first_found and no_frames_for > 10: + break + + cv2.imshow('img', img) + cv2.waitKey(1) + +# When everything done, release the capture +cap.release() 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