calibrate.py added (broken)

work on video synth

samples/python2/calibrate.py

+import numpy as np
+import cv2, cv
+import os
+
+USAGE = '''
+USAGE: calib.py [--save <filename>] [--debug <output path>] [<image mask>] 
+'''
+
+class Bunch:
+    def __init__(self, **kwds):
+        self.__dict__.update(kwds)
+
+
+def splitfn(fn):
+    path, fn = os.path.split(fn)
+    name, ext = os.path.splitext(fn)
+    return path, name, ext
+
+
+if __name__ == '__main__':
+    import sys, getopt
+    from glob import glob
+
+    args, img_mask = getopt.getopt(sys.argv[1:], '', ['save=', 'debug='])
+    args = dict(args)
+    try: img_mask = img_mask[0]
+    except: img_mask = '../cpp/left*.jpg'
+    img_names = glob(img_mask)
+    try: debug_dir = args['--debug']
+    except: debug_dir = None
+
+    pattern_size = (9, 6)
+    pattern_points = np.zeros( (np.prod(pattern_size), 3), np.float32 )
+    pattern_points[:,:2] = np.indices(pattern_size).T.reshape(-1, 2)
+
+    obj_points = []
+    img_points = []
+    h, w = 0, 0
+    for fn in img_names:
+        print 'processing %s...' % fn,
+        img = cv2.imread(fn, 0)
+        h, w = img.shape[:2]
+        found, corners = cv2.findChessboardCorners(img, pattern_size)
+        if found:
+            term = ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1 )
+            cv2.cornerSubPix(img, corners, (11, 11), (-1, -1), term)
+        if debug_dir:
+            vis = cv2.cvtColor(img, cv.CV_GRAY2BGR)
+            cv2.drawChessboardCorners(vis, pattern_size, corners, found)
+            path, name, ext = splitfn(fn)
+            cv2.imwrite('%s/%s_chess.bmp' % (debug_dir, name), vis)
+        if not found:
+            print 'chessboard not found'
+            break
+        img_points.append(corners.reshape(-1, 2))
+        obj_points.append(pattern_points)
+        
+        print 'ok'
+
+    camera_matrix = np.zeros((3, 3))
+    dist_coefs = np.zeros(4)
+    rms = cv2.calibrateCamera(obj_points, img_points, (w, h), camera_matrix, dist_coefs)
+    print rms
\ No newline at end of file

samples/python2/video.py

 import numpy as np
 import cv2
+from time import clock
+
+def lookat(cam_pos, target_pos, up = ()):
+    dp = cam_pos - target_pos
 
 class VideoSynth(object):
     def __init__(self, size=None, noise=0.0, bg = None, **params):
@@ -17,6 +21,15 @@ class VideoSynth(object):
 
         self.noise = float(noise)
 
+        w, h = self.frame_size
+        self.K = np.float64([[1.0/w,   0.0, 0.5*(w-1)], 
+                             [  0.0, 1.0/w, 0.5*(h-1)],
+                             [  0.0,   0.0,       1.0]])
+
+    def draw_layers(self, dst):
+        pass
+        
+
     def read(self, dst=None):
         w, h = self.frame_size
 
@@ -24,6 +37,9 @@ class VideoSynth(object):
             buf = np.zeros((h, w, 3), np.uint8)
         else:
             buf = self.bg.copy()
+
+        self.draw_layers(buf)
+
         if self.noise > 0.0:
             noise = np.zeros((h, w, 3), np.int8)
             cv2.randn(noise, np.zeros(3), np.ones(3)*255*self.noise)