Merge pull request #4 from ashwani-rathee/ash/basic_set

Stereo Extension made

.gitignore

@@ -1 +1,2 @@
 /Manifest.toml
+practice.jl

Project.toml

@@ -7,13 +7,20 @@ version = "0.1.0"
 Combinatorics = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 Distances = "b4f34e82-e78d-54a5-968a-f98e89d6e8f7"
-FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+
+[weakdeps]
+GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
 VideoIO = "d6d074c3-1acf-5d4c-9a43-ef38773959a2"
+FFMPEG = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
+GridDetector = "75c2d37c-541b-4fe4-8435-1b4a52ab0cde"
+
+[extensions]
+StereoExt = ["GLMakie", "VideoIO", "FFMPEG"]
+CalibrateExt = ["GridDetector"]
 
 [compat]
 julia = "1"

ext/CalibrateExt.jl

@@ -0,0 +1,59 @@
+module CalibrateExt
+
+using GridDetector, VideoIO
+using MultipleViewGeometry
+
+function MultipleViewGeometry.calibrate(device;save=false)
+    cam = VideoIO.opencamera("video=" * device)
+
+    count = 0
+    @info count "Calibrating..."
+    fps = VideoIO.framerate(cam)
+    images = []
+    corners = []
+
+    try
+        while (count < 9)
+            try
+                img = Gray.(read(cam))
+                cam.flush  = true
+
+                # @info "Info:" cam.flush cam.finished cam.bits_per_result_pixel cam.frame_queue
+                res = find_checkerboard(img) 
+
+                if (length(res) == 63)
+                    @info "Checkerboard size:" length(res) 
+                    push!(images, img)
+                    push!(corners, res)
+                    count = count + 1
+                    sleep(0.5)
+                else
+                    sleep(0.01)
+                end  
+
+                cam.flush = false
+            catch e
+                @info e.message
+                if typeof(e) <: InterruptException
+                    println("caught Interrupt")
+                    return
+                end
+            end
+        end
+
+        if (save == true)
+            for i in 1:9                                                                                                                          
+                save("image-$i.jpg", images[i])                                                                                                   
+            end
+        end
+
+        @info "Images:" length(images) 
+    finally
+        close(cam)
+    end
+
+    return images, corners
+end
+
+
+end

src/videoio.jl → ext/StereoExt.jl

@@ -1,16 +1,19 @@
-using VideoIO, FFMPEG
+module StereoExt # Should be same name as the file (just like a normal package)
+
+using MultipleViewGeometry
 using GLMakie
+using VideoIO
+using FFMPEG
 
-function stereo_setup()
+function MultipleViewGeometry.stereo_setup()
     devices = []
 	append!(devices, VideoIO.get_camera_devices(FFMPEG, "dshow", "dummy"))
     cam1 = VideoIO.opencamera("video=" * devices[4])
     cam2 = VideoIO.opencamera("video=" * devices[6])
     return cam1, cam2
 end
 
-
-function show_output(cam2, cam1)
+function MultipleViewGeometry.show_output(cam2, cam1)
     fig = Figure(size = (1000, 700), title = "Stereo View")
     ax = GLMakie.Axis(
         fig[1, 1],
@@ -38,6 +41,9 @@ function show_output(cam2, cam1)
 
         node1[] = rotr90(img1)
         node2[] = rotr90(img2)
-        sleep(1 / fps)
+        sleep(0.5/fps)
     end
 end
+
+
+end # module

src/MultipleViewGeometry.jl

@@ -2,15 +2,18 @@ module MultipleViewGeometry
 
 using Reexport
 
-@reexport using CoordinateTransformations
-@reexport using Rotations
-@reexport using StaticArrays
-@reexport using Distances
-@reexport using Combinatorics
+using CoordinateTransformations
+using Rotations
+using StaticArrays
+using Distances
+using Combinatorics
 using LinearAlgebra
 
 include("basic_set.jl")
-include("videoio.jl")
+
+function stereo_setup end
+function show_output end
+function calibrate end
 
 export EuclideanPoint, HomogeneousPoint
 export Edge, EuclideanNorm, MidPoint, Euclidean
@@ -28,4 +31,6 @@ export draw_rect
 export stereo_setup
 export show_output
 
+export calibrate
+
 end