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Fix some little problems #2

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Fix some little problems #2

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b5b7352
The proper package name for 'cv2' should be 'opencv-python'
gaunthan May 9, 2019
a1341ad
Porting to python3; remove pathname filtering
gaunthan May 9, 2019
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111 changes: 49 additions & 62 deletions camera_calibration/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,28 +61,15 @@ def calibrate(directory, rows, cols, space, win=11, save=True,
# Setup colored output
init()

if len(directory_out) and (directory_out[0] == '/' or
directory_out[0] == '\\'):
directory_out = directory_out[1:]
if len(directory_out) and (directory_out[-1] == '/' or
directory_out[-1] == '\\'):
directory_out = directory_out[:-1]

if len(directory) and (directory[0] == '/' or directory[0] == '\\'):
directory = directory[1:]
if len(directory) and (directory[-1] == '/' or directory[-1] == '\\'):
directory = directory[:-1]

print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "\nWelcome\n"
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "\nWelcome\n")

# Figure out where the images are and get all file_names for that directory
target_directory = os.path.join(os.getcwd(), directory)
directory_out = os.path.join(os.getcwd(), directory_out)
print "Searching for images in: " + target_directory
target_directory = directory
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should sanitize with expand user

print("Searching for images in: " + target_directory)
file_names = os.listdir(target_directory)
print "Found Images:"
print("Found Images:")
for name in file_names:
print "\t" + name
print("\t" + name)
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would be great to at some point change all of these to f-strings, but not critical


if visualize:
print ("\nYou have enabled visualizations.\n\tEach visualization will "
Expand All @@ -91,9 +78,9 @@ def calibrate(directory, rows, cols, space, win=11, save=True,

# Check grid symmetry
if rows == cols:
print (Style.BRIGHT + Back.RED + "It is best to use an asymmetric grid,"
" rows and cols should be different")
print(Style.RESET_ALL)
print((Style.BRIGHT + Back.RED + "It is best to use an asymmetric grid,"
" rows and cols should be different"))
print((Style.RESET_ALL))
exit()

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
Expand All @@ -119,12 +106,12 @@ def calibrate(directory, rows, cols, space, win=11, save=True,

# Check if output directory exists, if not, make it.
if save:
print (Style.BRIGHT + Back.MAGENTA + "\nSaving output to: " +
directory_out)
print((Style.BRIGHT + Back.MAGENTA + "\nSaving output to: " +
directory_out))
if not os.path.exists(directory_out):
os.makedirs(directory_out)
print Style.BRIGHT + Back.GREEN + "\tMade a new output directory"
print "\n"
print(Style.BRIGHT + Back.GREEN + "\tMade a new output directory")
print("\n")

#########################################################################
image_size = None
Expand All @@ -136,7 +123,7 @@ def calibrate(directory, rows, cols, space, win=11, save=True,

# If the image_file isn't an image, move on
if img is not None:
print Style.BRIGHT + Back.CYAN + "searching image: " + image_file
print(Style.BRIGHT + Back.CYAN + "searching image: " + image_file)

if visualize:
cv2.imshow('Raw Image', img)
Expand All @@ -153,8 +140,8 @@ def calibrate(directory, rows, cols, space, win=11, save=True,

# If we found chessboard corners lets work on them
if re_projection_error:
print (Style.BRIGHT + Back.GREEN + "\tfound " +
("centers" if circles else "corners"))
print((Style.BRIGHT + Back.GREEN + "\tfound " +
("centers" if circles else "corners")))
object_points.append(object_point)

# Since this is a good image, we will take its size as the
Expand Down Expand Up @@ -191,8 +178,8 @@ def calibrate(directory, rows, cols, space, win=11, save=True,
corners2 = corners

image_points.append(corners2)
print (Style.BRIGHT + Back.GREEN +
"\t\tfound sub-pixel corners")
print((Style.BRIGHT + Back.GREEN +
"\t\tfound sub-pixel corners"))
new_color_image = \
cv2.drawChessboardCorners(color_image, (cols, rows),
corners2, re_projection_error)
Expand All @@ -210,25 +197,25 @@ def calibrate(directory, rows, cols, space, win=11, save=True,
color_image)
cv2.waitKey(5000)
else:
print (Style.BRIGHT + Back.RED + "\tcould not find " +
("Centers" if circles else "Corners"))
print "\n"
print((Style.BRIGHT + Back.RED + "\tcould not find " +
("Centers" if circles else "Corners")))
print("\n")

# Check how many good images we found
if number_found >= 10:
print (Style.BRIGHT + Back.GREEN + "Found " + str(number_found) +
" calibratable images.")
print((Style.BRIGHT + Back.GREEN + "Found " + str(number_found) +
" calibratable images."))
elif number_found == 0:
print (Style.BRIGHT + Back.RED + "Found " + str(number_found) +
" calibratable images. \nNow Exiting")
print(Style.RESET_ALL)
print((Style.BRIGHT + Back.RED + "Found " + str(number_found) +
" calibratable images. \nNow Exiting"))
print((Style.RESET_ALL))
exit()
else:
print (Style.BRIGHT + Back.YELLOW + "Found " + str(number_found) +
" calibratable images.")
print((Style.BRIGHT + Back.YELLOW + "Found " + str(number_found) +
" calibratable images."))

#######################################################################
print Style.BRIGHT + Back.CYAN + "Beginning Calibration"
print(Style.BRIGHT + Back.CYAN + "Beginning Calibration")

# Execute calibration
(re_projection_error, camera_matrix, distortion_coefficients,
Expand All @@ -241,7 +228,7 @@ def calibrate(directory, rows, cols, space, win=11, save=True,
camera_matrix, distortion_coefficients, (w, h), 1, (w, h))

# Go through all images and undistort them
print Style.BRIGHT + Back.CYAN + "Beginning Undistort"
print(Style.BRIGHT + Back.CYAN + "Beginning Undistort")
i = 0
for image_file in file_names:
image_file = os.path.join(target_directory, image_file)
Expand All @@ -251,7 +238,7 @@ def calibrate(directory, rows, cols, space, win=11, save=True,

# If the image_file isn't an image, move on
if img is not None:
print Style.BRIGHT + Back.CYAN + "undistorting image: " + image_file
print(Style.BRIGHT + Back.CYAN + "undistorting image: " + image_file)

if visualize:
cv2.imshow('Raw Image', img)
Expand All @@ -274,34 +261,34 @@ def calibrate(directory, rows, cols, space, win=11, save=True,
i += 1

#########################################################################
print "\n"
print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Intrinsic Matrix:"
print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + str(camera_matrix)
print "\n"
print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Distortion Matrix:"
print (Fore.WHITE + Style.BRIGHT + Back.MAGENTA +
str(distortion_coefficients))
print "\n"
print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Optimal Camera Matrix:"
print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + str(new_camera_matrix)
print "\n"
print (Fore.WHITE + Style.BRIGHT + Back.MAGENTA +
"Optimal Camera Matrix Crop:")
print Fore.WHITE + Style.BRIGHT + Back.MAGENTA + str(roi)
print("\n")
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Intrinsic Matrix:")
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + str(camera_matrix))
print("\n")
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Distortion Matrix:")
print((Fore.WHITE + Style.BRIGHT + Back.MAGENTA +
str(distortion_coefficients)))
print("\n")
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Optimal Camera Matrix:")
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + str(new_camera_matrix))
print("\n")
print((Fore.WHITE + Style.BRIGHT + Back.MAGENTA +
"Optimal Camera Matrix Crop:"))
print(Fore.WHITE + Style.BRIGHT + Back.MAGENTA + str(roi))

# Calculate Re-projection Error
tot_error = 0
for i in xrange(len(object_points)):
for i in range(len(object_points)):
image_points_2, _ = cv2.projectPoints(
object_points[i], rotation_vectors[i], translation_vectors[i],
camera_matrix, distortion_coefficients)
error = cv2.norm(image_points[i], image_points_2,
cv2.NORM_L2) / len(image_points_2)
tot_error += error
mean_error = tot_error / len(object_points)
print "\n"
print (Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Re-projection Error: " +
str(mean_error))
print("\n")
print((Fore.WHITE + Style.BRIGHT + Back.MAGENTA + "Re-projection Error: " +
str(mean_error)))

if save:
with open(os.path.join(directory_out, 'result.txt'), 'w') as \
Expand Down Expand Up @@ -337,5 +324,5 @@ def calibrate(directory, rows, cols, space, win=11, save=True,
result_json_file:
json.dump(json_dict, result_json_file, indent=4)

print(Style.RESET_ALL)
print((Style.RESET_ALL))
cv2.destroyAllWindows()
2 changes: 1 addition & 1 deletion setup.py
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Expand Up @@ -19,7 +19,7 @@ def readme():
install_requires=[
'argparse',
'numpy',
'cv2',
'opencv-python',
'colorama'
],
zip_safe=True,
Expand Down