├── .dockerignore
├── .gitignore
├── Dockerfile
├── LICENSE
├── README.md
├── common.py
├── opencv_calibrate.py
├── sample
├── chessboard
│ ├── DSC00326.JPG
│ ├── DSC00327.JPG
│ ├── DSC00328.JPG
│ ├── DSC00329.JPG
│ ├── DSC00330.JPG
│ ├── DSC00331.JPG
│ ├── DSC00332.JPG
│ ├── DSC00333.JPG
│ └── DSC00334.JPG
├── config
│ ├── distortion.txt
│ └── matrix.txt
└── images
│ ├── DSC00268.JPG
│ ├── DSC00269.JPG
│ ├── DSC00270.JPG
│ ├── DSC00271.JPG
│ └── DSC00272.JPG
└── undistort.py
/.dockerignore:
--------------------------------------------------------------------------------
1 | .git
2 | sample
3 |
--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
1 | sample/img/out
2 | sample/chessboard/*.txt
3 |
--------------------------------------------------------------------------------
/Dockerfile:
--------------------------------------------------------------------------------
1 | FROM ubuntu:16.04
2 |
3 | ENV DEBIAN_FRONTEND noninteractive
4 |
5 | RUN apt-get update && \
6 | apt-get upgrade -y && \
7 | apt-get install -y --no-install-recommends \
8 | build-essential \
9 | libimage-exiftool-perl \
10 | python-dev \
11 | python-numpy \
12 | python-opencv \
13 | python-pip \
14 | python-setuptools \
15 | python-wheel
16 |
17 | COPY . /app
18 |
19 | VOLUME /app/config
20 | VOLUME /app/images
21 | WORKDIR /app
22 |
23 | ENTRYPOINT ["python", "undistort.py", "--matrix", "/app/config/matrix.txt", "--distortion", "/app/config/distortion.txt", "/app/images/"]
24 |
--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # CameraCalibration
2 |
3 | This suite of scripts will find camera matrix and distortion parameters with a set of checkerboard images, then use thos parameters to remove distortion from photos.
4 |
5 | ## Installation
6 |
7 | You need to install numpy and opencv:
8 | ```
9 | pip install numpy
10 | sudo apt-get install python-opencv exiftool
11 | ```
12 |
13 | ## Usage: Calibrate chessboard
14 |
15 | First you will need to take some photos of a black and white chessboard with a white border, [like this one](http://www.mrpt.org/downloads/camera-calibration-checker-board_9x7.pdf).
16 |
17 | Then you will run the `opencv_calibrate.py` script to generate the matrix and distortion files.
18 | ```
19 | python opencv_calibrate.py ./sample/chessboard/ 10 7
20 | ```
21 | The first argument is the path to the chessboard. You will also have to input the chessboard dimensions (the number of squares in x and y) Optional arguments:
22 | ```
23 | --out path if you want to output the parameters and the image outputs to a specific path. otherwise it gets writting to ./out
24 | --square_size float if your chessboard squares are not square, you can change this. default is 1.0
25 | ```
26 | ## Usage: undistort photos
27 | With the photos and the produced matrix.txt and distortion.txt, run the following:
28 |
29 | ```
30 | python undistort.py --matrix matrix.txt --distortion distortion.txt "/path/to/images/"
31 | ```
32 |
33 | **Note**: Do not forget the quotes in "/path/to/images"
34 |
35 | ### Docker Usage for undistorting images
36 |
37 | This assumes you already have the distortion and matrix parameters. Put the matri.txt and distortion.txt in their own directory (eg. sample/config) and do the following:
38 |
39 | Build:
40 | ```
41 | docker build -t cc_undistort .
42 | ```
43 |
44 | Run: (using sample images in this example)
45 | ```
46 | docker run -v ~/CameraCalibration/sample/images:/app/images \
47 | -v ~/CameraCalibration/sample/config:/app/config \
48 | cc_undistort
49 | ```
50 |
--------------------------------------------------------------------------------
/common.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | '''
4 | This module contains some common routines used by other samples.
5 |
6 | Taken directly from OpenCV:
7 | https://github.com/opencv/opencv/blob/3a51cae2081fe5e0c1d562cbb48abfe62b83280c/samples/python/common.py
8 | This software is released under a 3-clause BSD license
9 | '''
10 |
11 | # Python 2/3 compatibility
12 | from __future__ import print_function
13 | import sys
14 | PY3 = sys.version_info[0] == 3
15 |
16 | if PY3:
17 | from functools import reduce
18 |
19 | import numpy as np
20 | import cv2
21 |
22 | # built-in modules
23 | import os
24 | import itertools as it
25 | from contextlib import contextmanager
26 |
27 | image_extensions = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.pbm', '.pgm', '.ppm']
28 |
29 | class Bunch(object):
30 | def __init__(self, **kw):
31 | self.__dict__.update(kw)
32 | def __str__(self):
33 | return str(self.__dict__)
34 |
35 | def splitfn(fn):
36 | path, fn = os.path.split(fn)
37 | name, ext = os.path.splitext(fn)
38 | return path, name, ext
39 |
40 | def anorm2(a):
41 | return (a*a).sum(-1)
42 | def anorm(a):
43 | return np.sqrt( anorm2(a) )
44 |
45 | def homotrans(H, x, y):
46 | xs = H[0, 0]*x + H[0, 1]*y + H[0, 2]
47 | ys = H[1, 0]*x + H[1, 1]*y + H[1, 2]
48 | s = H[2, 0]*x + H[2, 1]*y + H[2, 2]
49 | return xs/s, ys/s
50 |
51 | def to_rect(a):
52 | a = np.ravel(a)
53 | if len(a) == 2:
54 | a = (0, 0, a[0], a[1])
55 | return np.array(a, np.float64).reshape(2, 2)
56 |
57 | def rect2rect_mtx(src, dst):
58 | src, dst = to_rect(src), to_rect(dst)
59 | cx, cy = (dst[1] - dst[0]) / (src[1] - src[0])
60 | tx, ty = dst[0] - src[0] * (cx, cy)
61 | M = np.float64([[ cx, 0, tx],
62 | [ 0, cy, ty],
63 | [ 0, 0, 1]])
64 | return M
65 |
66 |
67 | def lookat(eye, target, up = (0, 0, 1)):
68 | fwd = np.asarray(target, np.float64) - eye
69 | fwd /= anorm(fwd)
70 | right = np.cross(fwd, up)
71 | right /= anorm(right)
72 | down = np.cross(fwd, right)
73 | R = np.float64([right, down, fwd])
74 | tvec = -np.dot(R, eye)
75 | return R, tvec
76 |
77 | def mtx2rvec(R):
78 | w, u, vt = cv2.SVDecomp(R - np.eye(3))
79 | p = vt[0] + u[:,0]*w[0] # same as np.dot(R, vt[0])
80 | c = np.dot(vt[0], p)
81 | s = np.dot(vt[1], p)
82 | axis = np.cross(vt[0], vt[1])
83 | return axis * np.arctan2(s, c)
84 |
85 | def draw_str(dst, target, s):
86 | x, y = target
87 | cv2.putText(dst, s, (x+1, y+1), cv2.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 0), thickness = 2, lineType=cv2.LINE_AA)
88 | cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255), lineType=cv2.LINE_AA)
89 |
90 | class Sketcher:
91 | def __init__(self, windowname, dests, colors_func):
92 | self.prev_pt = None
93 | self.windowname = windowname
94 | self.dests = dests
95 | self.colors_func = colors_func
96 | self.dirty = False
97 | self.show()
98 | cv2.setMouseCallback(self.windowname, self.on_mouse)
99 |
100 | def show(self):
101 | cv2.imshow(self.windowname, self.dests[0])
102 |
103 | def on_mouse(self, event, x, y, flags, param):
104 | pt = (x, y)
105 | if event == cv2.EVENT_LBUTTONDOWN:
106 | self.prev_pt = pt
107 | elif event == cv2.EVENT_LBUTTONUP:
108 | self.prev_pt = None
109 |
110 | if self.prev_pt and flags & cv2.EVENT_FLAG_LBUTTON:
111 | for dst, color in zip(self.dests, self.colors_func()):
112 | cv2.line(dst, self.prev_pt, pt, color, 5)
113 | self.dirty = True
114 | self.prev_pt = pt
115 | self.show()
116 |
117 |
118 | # palette data from matplotlib/_cm.py
119 | _jet_data = {'red': ((0., 0, 0), (0.35, 0, 0), (0.66, 1, 1), (0.89,1, 1),
120 | (1, 0.5, 0.5)),
121 | 'green': ((0., 0, 0), (0.125,0, 0), (0.375,1, 1), (0.64,1, 1),
122 | (0.91,0,0), (1, 0, 0)),
123 | 'blue': ((0., 0.5, 0.5), (0.11, 1, 1), (0.34, 1, 1), (0.65,0, 0),
124 | (1, 0, 0))}
125 |
126 | cmap_data = { 'jet' : _jet_data }
127 |
128 | def make_cmap(name, n=256):
129 | data = cmap_data[name]
130 | xs = np.linspace(0.0, 1.0, n)
131 | channels = []
132 | eps = 1e-6
133 | for ch_name in ['blue', 'green', 'red']:
134 | ch_data = data[ch_name]
135 | xp, yp = [], []
136 | for x, y1, y2 in ch_data:
137 | xp += [x, x+eps]
138 | yp += [y1, y2]
139 | ch = np.interp(xs, xp, yp)
140 | channels.append(ch)
141 | return np.uint8(np.array(channels).T*255)
142 |
143 | def nothing(*arg, **kw):
144 | pass
145 |
146 | def clock():
147 | return cv2.getTickCount() / cv2.getTickFrequency()
148 |
149 | @contextmanager
150 | def Timer(msg):
151 | print(msg, '...',)
152 | start = clock()
153 | try:
154 | yield
155 | finally:
156 | print("%.2f ms" % ((clock()-start)*1000))
157 |
158 | class StatValue:
159 | def __init__(self, smooth_coef = 0.5):
160 | self.value = None
161 | self.smooth_coef = smooth_coef
162 | def update(self, v):
163 | if self.value is None:
164 | self.value = v
165 | else:
166 | c = self.smooth_coef
167 | self.value = c * self.value + (1.0-c) * v
168 |
169 | class RectSelector:
170 | def __init__(self, win, callback):
171 | self.win = win
172 | self.callback = callback
173 | cv2.setMouseCallback(win, self.onmouse)
174 | self.drag_start = None
175 | self.drag_rect = None
176 | def onmouse(self, event, x, y, flags, param):
177 | x, y = np.int16([x, y]) # BUG
178 | if event == cv2.EVENT_LBUTTONDOWN:
179 | self.drag_start = (x, y)
180 | return
181 | if self.drag_start:
182 | if flags & cv2.EVENT_FLAG_LBUTTON:
183 | xo, yo = self.drag_start
184 | x0, y0 = np.minimum([xo, yo], [x, y])
185 | x1, y1 = np.maximum([xo, yo], [x, y])
186 | self.drag_rect = None
187 | if x1-x0 > 0 and y1-y0 > 0:
188 | self.drag_rect = (x0, y0, x1, y1)
189 | else:
190 | rect = self.drag_rect
191 | self.drag_start = None
192 | self.drag_rect = None
193 | if rect:
194 | self.callback(rect)
195 | def draw(self, vis):
196 | if not self.drag_rect:
197 | return False
198 | x0, y0, x1, y1 = self.drag_rect
199 | cv2.rectangle(vis, (x0, y0), (x1, y1), (0, 255, 0), 2)
200 | return True
201 | @property
202 | def dragging(self):
203 | return self.drag_rect is not None
204 |
205 |
206 | def grouper(n, iterable, fillvalue=None):
207 | '''grouper(3, 'ABCDEFG', 'x') --> ABC DEF Gxx'''
208 | args = [iter(iterable)] * n
209 | if PY3:
210 | output = it.zip_longest(fillvalue=fillvalue, *args)
211 | else:
212 | output = it.izip_longest(fillvalue=fillvalue, *args)
213 | return output
214 |
215 | def mosaic(w, imgs):
216 | '''Make a grid from images.
217 | w -- number of grid columns
218 | imgs -- images (must have same size and format)
219 | '''
220 | imgs = iter(imgs)
221 | if PY3:
222 | img0 = next(imgs)
223 | else:
224 | img0 = imgs.next()
225 | pad = np.zeros_like(img0)
226 | imgs = it.chain([img0], imgs)
227 | rows = grouper(w, imgs, pad)
228 | return np.vstack(map(np.hstack, rows))
229 |
230 | def getsize(img):
231 | h, w = img.shape[:2]
232 | return w, h
233 |
234 | def mdot(*args):
235 | return reduce(np.dot, args)
236 |
237 | def draw_keypoints(vis, keypoints, color = (0, 255, 255)):
238 | for kp in keypoints:
239 | x, y = kp.pt
240 | cv2.circle(vis, (int(x), int(y)), 2, color)
--------------------------------------------------------------------------------
/opencv_calibrate.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | '''
4 | camera calibration for distorted images with chess board samples
5 | reads distorted images, calculates the calibration and write undistorted images
6 | usage:
7 | calibrate.py [--out