Initial commit

cam_pose.py

@@ -0,0 +1,99 @@
+import numpy as np
+import cv2 as cv
+import glob
+
+def draw_gizmo(img, corners, imgpts):
+	corner = tuple(corners[0].ravel().astype("int32"))
+	imgpts = imgpts.astype("int32")
+	img = cv.line(img, corner, tuple(imgpts[0].ravel()), (255,0,0), 5)
+	img = cv.line(img, corner, tuple(imgpts[1].ravel()), (0,255,0), 5)
+	img = cv.line(img, corner, tuple(imgpts[2].ravel()), (0,0,255), 5)
+	return img
+
+
+def draw_cube(img, corners, imgpts):
+	imgpts = np.int32(imgpts).reshape(-1, 2)
+
+	# draw ground floor in green
+	img = cv.drawContours(img, [imgpts[:4]], -1, (0, 255, 0), -3)
+
+	# draw pillars in blue color
+	for i, j in zip(range(4), range(4, 8)):
+		img = cv.line(img, tuple(imgpts[i]), tuple(imgpts[j]), (255), 3)
+
+	# draw top layer in red color
+	img = cv.drawContours(img, [imgpts[4:]], -1, (0, 0, 255), 3)
+
+	return img
+
+
+def main():
+	process_video()
+
+def process_video():
+	with np.load('results/cam.npz') as X:
+		mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
+
+	criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+	objp = np.zeros((6 * 7, 3), np.float32)
+	objp[:, :2] = np.mgrid[0:7, 0:6].T.reshape(-1, 2)
+
+	axis = np.float32([[3, 0, 0], [0, 3, 0], [0, 0, -3]]).reshape(-1, 3)
+
+	# Open camera
+	video = cv.VideoCapture(0)
+	if not video.isOpened():
+		print("Cannot open camera")
+		exit()
+
+	while True:
+		# Read a new frame
+		ok, img = video.read()
+		if not ok:
+			return
+		process_img(img, criteria, objp, axis, mtx, dist)
+		k = cv.waitKey(1) & 0xFF
+		if k == ord('q'):
+			break
+
+def process_still():
+	with np.load('results/cam.npz') as X:
+		mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
+
+	criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+	objp = np.zeros((6 * 7, 3), np.float32)
+	objp[:, :2] = np.mgrid[0:7, 0:6].T.reshape(-1, 2)
+
+	axis = np.float32([[3, 0, 0], [0, 3, 0], [0, 0, -3]]).reshape(-1, 3)
+
+	for fname in glob.glob('check*.jpg'):
+		img = cv.imread(fname)
+		process_img(img, criteria, objp, axis, mtx, dist)
+		k = cv.waitKey(1) & 0xFF
+		if k == ord('q'):
+			break
+
+
+def process_img(img, criteria, objp, axis, mtx, dist):	# Load previously saved data
+	pattern_size = (7, 6)
+	gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
+	ret, corners = cv.findChessboardCorners(gray, pattern_size, corners=None, flags=cv.CALIB_CB_ADAPTIVE_THRESH+cv.CALIB_CB_NORMALIZE_IMAGE)
+	cv.drawChessboardCorners(img, corners=corners, patternSize=pattern_size, patternWasFound=ret)
+
+	if ret:
+		corners2 = cv.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
+
+		# Find the rotation and translation vectors.
+		ret, rvecs, tvecs = cv.solvePnP(objp, corners2, mtx, dist)
+
+		# project 3D points to image plane
+		imgpts, jac = cv.projectPoints(axis, rvecs, tvecs, mtx, dist)
+
+		img = draw_gizmo(img, corners2, imgpts)
+
+	cv.imshow('img', img)
+
+
+if __name__ == '__main__':
+	main()
+	cv.destroyAllWindows()