diff options
Diffstat (limited to 'src/argaze/utils/camera_calibrate.py')
| -rw-r--r-- | src/argaze/utils/camera_calibrate.py | 45 |
1 files changed, 26 insertions, 19 deletions
diff --git a/src/argaze/utils/camera_calibrate.py b/src/argaze/utils/camera_calibrate.py index b590767..c42b721 100644 --- a/src/argaze/utils/camera_calibrate.py +++ b/src/argaze/utils/camera_calibrate.py @@ -11,23 +11,23 @@ import argparse import os import time -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard, ArUcoDetector, ArUcoCamera +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard, ArUcoDetector, ArUcoOpticCalibrator import cv2 def main(): """ - Captures board pictures and finally outputs camera calibration data into a calibration.json file. + Captures board pictures and finally outputs optic parameter into a calibration.json file. - Export and print a calibration board using aruco_calibration_board_export.py script. - Place the calibration board face to the camera. - Move the calibration board in a manner to view it entirely on screen in various configurations (orientation and distance): The script will automatically take pictures. Do this step with a good lighting and a clear background. - - Once enough pictures have been captured (~20), press Esc key then, wait for the camera calibration processing. + - Once enough pictures have been captured (~20), press Esc key then, wait for optic parameters processing. - Finally, check rms parameter: it should be between 0. and 1. if the calibration succeeded (lower is better). ### Reference: - - [Camera calibration using ArUco marker tutorial](https://automaticaddison.com/how-to-perform-camera-calibration-using-opencv/) + - [Optic calibration using ArUco marker tutorial](https://automaticaddison.com/how-to-perform-camera-calibration-using-opencv/) """ # Manage arguments @@ -48,8 +48,8 @@ def main(): frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH)) frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) - # Create aruco camera - aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(frame_width, frame_height)) + # Create aruco optic calibrator + aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator() # Create aruco board aruco_board = ArUcoBoard.ArUcoBoard(args.columns, args.rows, args.square_size, args.marker_size, args.dictionary) @@ -57,7 +57,7 @@ def main(): # Create aruco detector aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=args.dictionary, marker_size=args.marker_size) - print(f'{aruco_camera.dimensions[0]}x{aruco_camera.dimensions[1]} pixels camera calibration starts') + print(f'{frame_width}x{frame_height} pixels camera calibration starts') print("Waiting for calibration board...") expected_markers_number = aruco_board.markers_number @@ -80,8 +80,8 @@ def main(): aruco_detector.draw_detected_markers(video_frame) # Draw current calibration data count - cv2.putText(video_frame, f'Capture: {aruco_camera.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA) - cv2.imshow('Camera Calibration', video_frame) + cv2.putText(video_frame, f'Capture: {aruco_optic_calibrator.calibration_data_count}', (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA) + cv2.imshow('Optic Calibration', video_frame) # If all board corners are detected if aruco_detector.board_corners_number == expected_corners_number: @@ -90,9 +90,9 @@ def main(): aruco_detector.draw_board(video_frame) # Append calibration data - aruco_camera.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) + aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier) - cv2.imshow('Camera Calibration', video_frame) + cv2.imshow('Optic Calibration', video_frame) # Stop calibration by pressing 'Esc' key if cv2.waitKey(1) == 27: @@ -106,17 +106,24 @@ def main(): cv2.destroyAllWindows() print('\nCalibrating camera...') - aruco_camera.calibrate(aruco_board) + optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(frame_width, frame_height)) - print('\nCalibration succeeded!') - print(f'\nRMS:\n{aruco_camera.rms}') - print(f'\nDimensions:\n{frame_width}x{frame_height}') - print(f'\nCamera matrix:\n{aruco_camera.K}') - print(f'\nDistortion coefficients:\n{aruco_camera.D}') + if optic_parameters: - aruco_camera.to_json(f'{args.output}/calibration.json') + print('\nCalibration succeeded!') - print(f'\ncalibration.json file exported into {args.output} folder') + print(f'\nRMS:\n{optic_parameters.rms}') + print(f'\nDimensions:\n{optic_parameters.dimensions[0]}x{optic_parameters.dimensions[1]}') + print(f'\nCamera matrix:\n{optic_parameters.K}') + print(f'\nDistortion coefficients:\n{optic_parameters.D}') + + optic_parameters.to_json(f'{args.output}/optic_parameters.json') + + print(f'\ncalibration.json file exported into {args.output} folder') + + else: + + print('\nCalibration error.') if __name__ == '__main__': |