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calibrate.py
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#!/usr/bin/env python3
import argparse
import json
from pydoc import render_doc
import shutil
import traceback
from argparse import ArgumentParser
from pathlib import Path
import time
from datetime import datetime, timedelta
from collections import deque
from scipy.spatial.transform import Rotation
import traceback
import itertools
import math
import cv2
from cv2 import resize
import depthai as dai
import numpy as np
import numba as nb
import copy
import depthai_calibration.calibration_utils as calibUtils
@nb.njit(nb.uint16[::1] (nb.uint8[::1], nb.uint16[::1], nb.boolean), parallel=True, cache=True)
def unpack_raw10(input, out, expand16bit):
lShift = 6 if expand16bit else 0
#for i in np.arange(input.size // 5): # around 25ms per frame (with numba)
for i in nb.prange(input.size // 5): # around 5ms per frame
b4 = input[i * 5 + 4]
out[i * 4] = ((input[i * 5] << 2) | ( b4 & 0x3)) << lShift
out[i * 4 + 1] = ((input[i * 5 + 1] << 2) | ((b4 >> 2) & 0x3)) << lShift
out[i * 4 + 2] = ((input[i * 5 + 2] << 2) | ((b4 >> 4) & 0x3)) << lShift
out[i * 4 + 3] = ((input[i * 5 + 3] << 2) | (b4 >> 6) ) << lShift
return out
def get_image(msg):
width = msg.getWidth()
height = msg.getHeight()
shape = (height, width)
rgbData = msg.getData()
unpackedRgb = np.empty(rgbData.size * 4 // 5, dtype=np.uint16)
unpack_raw10(rgbData, unpackedRgb, True)
unpackedRgb = unpackedRgb.reshape(shape).astype(np.uint16)
color_frame = cv2.cvtColor(unpackedRgb, cv2.COLOR_BayerGB2BGR)
return color_frame
font = cv2.FONT_HERSHEY_SIMPLEX
red = (255, 0, 0)
green = (0, 255, 0)
stringToCam = {
'RGB' : dai.CameraBoardSocket.CAM_A,
'LEFT' : dai.CameraBoardSocket.CAM_B,
'RIGHT' : dai.CameraBoardSocket.CAM_C,
'CAM_A' : dai.CameraBoardSocket.CAM_A,
'CAM_B' : dai.CameraBoardSocket.CAM_B,
'CAM_C' : dai.CameraBoardSocket.CAM_C,
'CAM_D' : dai.CameraBoardSocket.CAM_D,
'CAM_E' : dai.CameraBoardSocket.CAM_E,
'CAM_F' : dai.CameraBoardSocket.CAM_F,
'CAM_G' : dai.CameraBoardSocket.CAM_G,
'CAM_H' : dai.CameraBoardSocket.CAM_H
}
camToMonoRes = {
'OV7251' : dai.MonoCameraProperties.SensorResolution.THE_480_P,
'OV9282' : dai.MonoCameraProperties.SensorResolution.THE_800_P,
}
camToRgbRes = {
'IMX378' : dai.ColorCameraProperties.SensorResolution.THE_4_K,
'IMX214' : dai.ColorCameraProperties.SensorResolution.THE_4_K,
'OV9782' : dai.ColorCameraProperties.SensorResolution.THE_800_P,
'IMX582' : dai.ColorCameraProperties.SensorResolution.THE_12_MP,
'AR0234' : dai.ColorCameraProperties.SensorResolution.THE_1200_P,
}
antibandingOpts = {
'off': dai.CameraControl.AntiBandingMode.OFF,
'50': dai.CameraControl.AntiBandingMode.MAINS_50_HZ,
'60': dai.CameraControl.AntiBandingMode.MAINS_60_HZ,
}
def create_blank(width, height, rgb_color=(0, 0, 0)):
"""Create new image(numpy array) filled with certain color in RGB"""
# Create black blank image
image = np.zeros((height, width, 3), np.uint8)
# Since OpenCV uses BGR, convert the color first
color = tuple(reversed(rgb_color))
# Fill image with color
image[:] = color
return image
class ParseKwargs(argparse.Action):
def __call__(self, parser, namespace, values, option_string=None):
setattr(namespace, self.dest, dict())
for value in values:
key, value = value.split('=')
getattr(namespace, self.dest)[key] = value
def parse_args():
epilog_text = '''
Captures and processes images for disparity depth calibration, generating a `<device id>.json` file or `depthai_calib.json`
that should be loaded when initializing depthai. By default, captures one image for each of the 8 calibration target poses.
Image capture requires the use of a printed OpenCV charuco calibration target applied to a flat surface(ex: sturdy cardboard).
Default board size used in this script is 22x16. However you can send a customized one too.
When taking photos, ensure enough amount of markers are visible and images are crisp.
The board does not need to fit within each drawn red polygon shape, but it should mimic the display of the polygon.
If the calibration checkerboard corners cannot be found, the user will be prompted to try that calibration pose again.
The script requires a RMS error < 1.0 to generate a calibration file. If RMS exceeds this threshold, an error is displayed.
An average epipolar error of <1.5 is considered to be good, but not required.
Example usage:
Run calibration with a checkerboard square size of 3.0cm and marker size of 2.5cm on board config file DM2CAM:
python3 calibrate.py -s 3.0 -ms 2.5 -brd DM2CAM
Only run image processing only with same board setup. Requires a set of saved capture images:
python3 calibrate.py -s 3.0 -ms 2.5 -brd DM2CAM -m process
Delete all existing images before starting image capture:
python3 calibrate.py -i delete
'''
parser = ArgumentParser(
epilog=epilog_text, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument("-c", "--count", default=3, type=int, required=False,
help="Number of images per polygon to capture. Default: 1.")
parser.add_argument("-s", "--squareSizeCm", type=float, required=True,
help="Square size of calibration pattern used in centimeters. Default: 2.0cm.")
parser.add_argument("-ms", "--markerSizeCm", type=float, required=False,
help="Marker size in charuco boards.")
parser.add_argument("-db", "--defaultBoard", default=None, type=str,
help="Calculates the size of markers, numbers of squareX and squareY base on the choosing board from charuco_boards directory.")
parser.add_argument("-nx", "--squaresX", default="11", type=int, required=False,
help="number of chessboard squares in X direction in charuco boards.")
parser.add_argument("-ny", "--squaresY", default="8", type=int, required=False,
help="number of chessboard squares in Y direction in charuco boards.")
parser.add_argument("-rd", "--rectifiedDisp", default=True, action="store_false",
help="Display rectified images with lines drawn for epipolar check")
parser.add_argument("-m", "--mode", default=['capture', 'process'], nargs='*', type=str, required=False,
help="Space-separated list of calibration options to run. By default, executes the full 'capture process' pipeline. To execute a single step, enter just that step (ex: 'process').")
parser.add_argument("-brd", "--board", default=None, type=str,
help="BW1097, BW1098OBC - Board type from resources/depthai_boards/boards (not case-sensitive). "
"Or path to a custom .json board config. Mutually exclusive with [-fv -b -w]")
parser.add_argument("-iv", "--invertVertical", dest="invert_v", default=False, action="store_true",
help="Invert vertical axis of the camera for the display")
parser.add_argument("-ih", "--invertHorizontal", dest="invert_h", default=False, action="store_true",
help="Invert horizontal axis of the camera for the display")
parser.add_argument("-ep", "--maxEpiploarError", default="0.8", type=float, required=False,
help="Sets the maximum epiploar allowed with rectification. Default: %(default)s")
parser.add_argument("-cm", "--cameraMode", default="perspective", type=str,
required=False, help="Choose between perspective and Fisheye")
parser.add_argument('-rlp', '--rgbLensPosition', nargs='*', action=ParseKwargs, required=False, default={} , help="Set the manual lens position of the camera for calibration. Example -rlp rgb=135 night=135")
parser.add_argument('-dsb', '--disableCamera', nargs='+', required=False, default=[] , help="Set which camera should be disabled. Example -dsb rgb left right")
parser.add_argument("-cd", "--captureDelay", default=2, type=int,
required=False, help="Choose how much delay to add between pressing the key and capturing the image. Default: %(default)s")
parser.add_argument("-fac", "--factoryCalibration", default=False, action="store_true",
help="Enable writing to Factory Calibration.")
parser.add_argument("-osf", "--outputScaleFactor", type=float, default=0.5,
help="set the scaling factor for output visualization. Default: 0.5.")
parser.add_argument('-fps', '--framerate', type=float, default=10,
help="FPS to set for all cameras. Default: %(default)s")
parser.add_argument('-ab', '--antibanding', default='50', choices={'off', '50', '60'},
help="Set antibanding/antiflicker algo for lights that flicker at mains frequency. Default: %(default)s [Hz]")
parser.add_argument('-scp', '--saveCalibPath', type=str, default="",
help="Save calibration file to this path")
parser.add_argument('-dst', '--datasetPath', type=str, default="dataset",
help="Path to dataset used for processing images")
parser.add_argument('-mdmp', '--minDetectedMarkersPercent', type=float, default=0.4,
help="Minimum percentage of detected markers to consider a frame valid")
parser.add_argument('-mt', '--mouseTrigger', default=False, action="store_true",
help="Enable mouse trigger for image capture")
parser.add_argument('-nic', '--noInitCalibration', default=False, action="store_true",
help="Don't take the board calibration for initialization but start with an empty one")
parser.add_argument('-trc', '--traceLevel', type=int, default=0,
help="Set to trace the steps in calibration. Number from 1 to 5. If you want to display all, set trace number to 10.")
parser.add_argument('-mst', '--minSyncTimestamp', type=float, default=0.2,
help="Minimum time difference between pictures taken from different cameras. Default: %(default)s ")
parser.add_argument('-it', '--numPictures', type=float, default=None,
help="Number of pictures taken.")
parser.add_argument('-ebp', '--enablePolygonsDisplay', default=False, action="store_true",
help="Enable the display of polynoms.")
parser.add_argument('-dbg', '--debugProcessingMode', default=False, action="store_true",
help="Enable processing of images without using the camera.")
options = parser.parse_args()
# Set some extra defaults, `-brd` would override them
if options.defaultBoard is not None:
try:
board_name = options.defaultBoard
try:
board_name, _ = board_name.split(".")
except:
board_name = board_name
_, size, charcuo_num = board_name.split("_")
numX, numY = charcuo_num.split("x")
options.squaresX = int(numX)
options.squaresY = int(numY)
except:
raise argparse.ArgumentTypeError(options.defaultBoard, "Board name has not been found.")
if options.markerSizeCm is None:
options.markerSizeCm = options.squareSizeCm * 0.75
if options.squareSizeCm < 2.2:
raise argparse.ArgumentTypeError("-s / --squareSizeCm needs to be greater than 2.2 cm")
if options.traceLevel == 1:
print(f"Charuco board selected is: board_name = {board_name}, numX = {numX}, numY = {numY}, squareSize {options.squareSizeCm} cm, markerSize {options.markerSizeCm} cm")
if options.debugProcessingMode:
options.mode = "process"
if options.board is None:
raise argparse.ArgumentError(options.board, "Board name (-brd) of camera must be specified in case of using debug mode (-dbg).")
return options
class HostSync:
def __init__(self, deltaMilliSec):
self.arrays = {}
self.arraySize = 15
self.recentFrameTs = None
self.deltaMilliSec = timedelta(milliseconds=deltaMilliSec)
# self.synced = queue.Queue()
def remove(self, t1):
return timedelta(milliseconds=500) < (self.recentFrameTs - t1)
def add_msg(self, name, data, ts):
if name not in self.arrays:
self.arrays[name] = deque(maxlen=self.arraySize)
# Add msg to array
self.arrays[name].appendleft({'data': data, 'timestamp': ts})
if self.recentFrameTs == None or self.recentFrameTs - ts:
self.recentFrameTs = ts
def clearQueues(self):
print('Clearing Queues...')
for name, msgList in self.arrays.items():
self.arrays[name].clear()
print(len(self.arrays[name]))
def get_synced(self):
synced = {}
for name, msgList in self.arrays.items():
if len(msgList) != self.arraySize:
return False
for name, pivotMsgList in self.arrays.items():
print('len(pivotMsgList)')
print(len(pivotMsgList))
pivotMsgListDuplicate = pivotMsgList
while pivotMsgListDuplicate:
currPivot = pivotMsgListDuplicate.popleft()
synced[name] = currPivot['data']
for subName, msgList in self.arrays.items():
print(f'len of {subName}')
print(len(msgList))
if name == subName:
continue
msgListDuplicate = msgList.copy()
while msgListDuplicate:
print(f'---len of dup {subName} is {len(msgListDuplicate)}')
currMsg = msgListDuplicate.popleft()
time_diff = abs(currMsg['timestamp'] - currPivot['timestamp'])
print(f'---Time diff is {time_diff} and delta is {self.deltaMilliSec}')
if time_diff < self.deltaMilliSec:
print(f'--------Adding {subName} to sync. Messages left is {len(msgListDuplicate)}')
synced[subName] = currMsg['data']
break
print(f'Size of Synced is {len(synced)} amd array size is {len(self.arrays)}')
if len(synced) == len(self.arrays):
self.clearQueues()
return synced
# raise SystemExit(1)
self.clearQueues()
return False
class MessageSync:
def __init__(self, num_queues, min_diff_timestamp, max_num_messages=4, min_queue_depth=3):
self.num_queues = num_queues
self.min_diff_timestamp = min_diff_timestamp
self.max_num_messages = max_num_messages
# self.queues = [deque() for _ in range(num_queues)]
self.queues = dict()
self.queue_depth = min_queue_depth
# self.earliest_ts = {}
def add_msg(self, name, msg):
if name not in self.queues:
self.queues[name] = deque(maxlen=self.max_num_messages)
self.queues[name].append(msg)
# if msg.getTimestampDevice() < self.earliest_ts:
# self.earliest_ts = {name: msg.getTimestampDevice()}
# print('Queues: ', end='')
# for name in self.queues.keys():
# print('\t: ', name, end='')
# print(self.queues[name], end=', ')
# print()
# print()
def get_synced(self):
# Atleast 3 messages should be buffered
min_len = min([len(queue) for queue in self.queues.values()])
if min_len == 0:
print('Status:', 'exited due to min len == 0', self.queues)
return None
# initializing list of list
queue_lengths = []
for name in self.queues.keys():
queue_lengths.append(range(0, len(self.queues[name])))
permutations = list(itertools.product(*queue_lengths))
# print ("All possible permutations are : " + str(permutations))
# Return a best combination after being atleast 3 messages deep for all queues
min_ts_diff = None
for indicies in permutations:
tmp = {}
i = 0
for n in self.queues.keys():
tmp[n] = indicies[i]
i = i + 1
indicies = tmp
acc_diff = 0.0
min_ts = None
for name in indicies.keys():
msg = self.queues[name][indicies[name]]
if min_ts is None:
min_ts = msg.getTimestampDevice().total_seconds()
for name in indicies.keys():
msg = self.queues[name][indicies[name]]
acc_diff = acc_diff + abs(min_ts - msg.getTimestampDevice().total_seconds())
# Mark minimum
if min_ts_diff is None or (acc_diff < min_ts_diff['ts'] and abs(acc_diff - min_ts_diff['ts']) > 0.03):
min_ts_diff = {'ts': acc_diff, 'indicies': indicies.copy()}
print('new minimum:', min_ts_diff, 'min required:', self.min_diff_timestamp)
if min_ts_diff['ts'] < self.min_diff_timestamp:
# Check if atleast 5 messages deep
min_queue_depth = None
for name in indicies.keys():
if min_queue_depth is None or indicies[name] < min_queue_depth:
min_queue_depth = indicies[name]
if min_queue_depth >= self.queue_depth:
# Retrieve and pop the others
synced = {}
for name in indicies.keys():
synced[name] = self.queues[name][min_ts_diff['indicies'][name]]
# pop out the older messages
for i in range(0, min_ts_diff['indicies'][name]+1):
self.queues[name].popleft()
if self.traceLevel == 1:
print('Returning synced messages with error:', min_ts_diff['ts'], min_ts_diff['indicies'])
return synced
class Main:
output_scale_factor = 0.5
polygons = None
width = None
height = None
current_polygon = 0
images_captured_polygon = 0
images_captured = 0
def __init__(self):
self.args = parse_args()
self.traceLevel= self.args.traceLevel
self.output_scale_factor = self.args.outputScaleFactor
self.aruco_dictionary = cv2.aruco.Dictionary_get(
cv2.aruco.DICT_5X5_250)
self.enablePolygonsDisplay = self.args.enablePolygonsDisplay
self.board_name = None
if not self.args.debugProcessingMode:
self.device = dai.Device()
cameraProperties = self.device.getConnectedCameraFeatures()
calibData = self.device.readCalibration()
eeprom = calibData.getEepromData()
#TODO Change only in getDeviceName in next revision.
if self.args.board:
self.board_name = self.args.board
board_path = Path(Path(__file__).parent /self.args.board)
if not board_path.exists():
board_path = (Path(__file__).parent / 'resources/depthai_boards/boards' / self.args.board.upper()).with_suffix('.json').resolve()
if not board_path.exists():
raise ValueError(
'Board config not found: {}'.format(Path(Path(__file__).parent /self.args.board)))
with open(board_path) as fp:
self.board_config = json.load(fp)
self.board_config = self.board_config['board_config']
self.board_config_backup = self.board_config
elif not self.args.debugProcessingMode:
try:
detection = self.device.getDeviceName()
print(f"Device name: {detection}")
detection = detection.split("-")
except:
cameraProperties = self.device.getConnectedCameraFeatures()
calibData = self.device.readCalibration()
eeprom = calibData.getEepromData()
eeprom.productName = eeprom.productName.replace(" ", "-").upper()
eeprom.boardName = eeprom.boardName.replace(" ", "-").upper()
print(f"Product name: {eeprom.productName}, board name {eeprom.boardName}")
if eeprom.productName.split("-")[0] == "OAK":
detection = eeprom.productName.split("-")
elif eeprom.boardName.split("-")[0] == "OAK":
detection = eeprom.boardName.split("-")
else:
raise ValueError(f"Board config for Product name: {eeprom.productName}, board name {eeprom.boardName} not found.")
if "AF" in detection:
detection.remove("AF")
if "FF" in detection:
detection.remove("FF")
if "9782" in detection:
detection.remove("9782")
self.board_name = '-'.join(detection)
board_path = Path(Path(__file__).parent /self.board_name)
if self.traceLevel == 1:
print(f"Board path specified as {board_path}")
if not board_path.exists():
board_path = (Path(__file__).parent / 'resources/depthai_boards/boards' / self.board_name.upper()).with_suffix('.json').resolve()
if not board_path.exists():
raise ValueError(
'Board config not found: {}'.format(board_path))
with open(board_path) as fp:
self.board_config = json.load(fp)
self.board_config = self.board_config['board_config']
self.board_config_backup = self.board_config
# TODO: set the total images
# random polygons for count
if self.args.numPictures:
self.total_images = self.args.numPictures
else:
self.total_images = self.args.count * \
len(calibUtils.setPolygonCoordinates(1000, 600))
if self.traceLevel == 1:
print("Using Arguments=", self.args)
if self.args.datasetPath:
path = Path(self.args.datasetPath).mkdir(parents=True, exist_ok=True)
# if self.args.board.upper() == 'OAK-D-LITE':
# raise Exception(
# "OAK-D-Lite Calibration is not supported on main yet. Please use `lite_calibration` branch to calibrate your OAK-D-Lite!!")
#TODO
#if self.args.cameraMode != "perspective":
#self.args.minDetectedMarkersPercent = 1.0
self.coverageImages ={}
for cam_id in self.board_config['cameras']:
name = self.board_config['cameras'][cam_id]['name']
self.coverageImages[name] = None
if not self.args.debugProcessingMode:
cameraProperties = self.device.getConnectedCameraFeatures()
for properties in cameraProperties:
for in_cam in self.board_config['cameras'].keys():
cam_info = self.board_config['cameras'][in_cam]
if cam_info["name"] not in self.args.disableCamera:
if properties.socket == stringToCam[in_cam]:
self.board_config['cameras'][in_cam]['sensorName'] = properties.sensorName
print('Cam: {} and focus: {}'.format(cam_info['name'], properties.hasAutofocus))
self.board_config['cameras'][in_cam]['hasAutofocus'] = properties.hasAutofocus
# self.auto_checkbox_dict[cam_info['name'] + '-Camera-connected'].check()
break
self.charuco_board = cv2.aruco.CharucoBoard_create(
self.args.squaresX, self.args.squaresY,
self.args.squareSizeCm,
self.args.markerSizeCm,
self.aruco_dictionary)
def mouse_event_callback(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
self.mouseTrigger = True
def startPipeline(self):
pipeline = self.create_pipeline()
self.device.startPipeline(pipeline)
self.camera_queue = {}
for config_cam in self.board_config['cameras']:
cam = self.board_config['cameras'][config_cam]
if cam["name"] not in self.args.disableCamera:
self.camera_queue[cam['name']] = self.device.getOutputQueue(cam['name'], 1, False)
def is_markers_found(self, frame):
marker_corners, _, _ = cv2.aruco.detectMarkers(
frame, self.aruco_dictionary)
print("Markers count ... {}".format(len(marker_corners)))
num_all_markers = math.floor(self.args.squaresX * self.args.squaresY / 2)
print(f'Total markers needed -> {int(num_all_markers * self.args.minDetectedMarkersPercent)}')
return not (len(marker_corners) < int(num_all_markers * self.args.minDetectedMarkersPercent))
def detect_markers_corners(self, frame):
marker_corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(frame, self.aruco_dictionary)
marker_corners, ids, refusd, recoverd = cv2.aruco.refineDetectedMarkers(frame, self.charuco_board,
marker_corners, ids,
rejectedCorners=rejectedImgPoints)
if len(marker_corners) <= 0:
return marker_corners, ids, None, None
ret, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco(marker_corners, ids, frame, self.charuco_board, minMarkers = 1)
return marker_corners, ids, charuco_corners, charuco_ids
def draw_markers(self, frame):
marker_corners, ids, charuco_corners, charuco_ids = self.detect_markers_corners(frame)
if charuco_ids is not None and len(charuco_ids) > 0:
return cv2.aruco.drawDetectedCornersCharuco(frame, charuco_corners, charuco_ids, (0, 255, 0))
return frame
def draw_corners(self, frame, displayframe, color):
marker_corners, ids, charuco_corners, charuco_ids = self.detect_markers_corners(frame)
for corner in charuco_corners:
corner_int = (int(corner[0][0]), int(corner[0][1]))
cv2.circle(displayframe, corner_int, 8*displayframe.shape[1]//1900, color, -1)
height, width = displayframe.shape[:2]
start_point = (0, 0) # top of the image
end_point = (0, height)
color = (0, 0, 0) # blue in BGR
thickness = 4
# Draw the line on the image
cv2.line(displayframe, start_point, end_point, color, thickness)
return displayframe
# return cv2.aruco.drawDetectedCornersCharuco(displayframe, charuco_corners)
def test_camera_orientation(self, frame_l, frame_r):
marker_corners_l, id_l, _ = cv2.aruco.detectMarkers(
frame_l, self.aruco_dictionary)
marker_corners_r, id_r, _ = cv2.aruco.detectMarkers(
frame_r, self.aruco_dictionary)
for i, left_id in enumerate(id_l):
idx = np.where(id_r == left_id)
# print(idx)
if idx[0].size == 0:
continue
for left_corner, right_corner in zip(marker_corners_l[i], marker_corners_r[idx[0][0]]):
if left_corner[0][0] - right_corner[0][0] < 0:
return False
return True
def create_pipeline(self):
pipeline = dai.Pipeline()
fps = self.args.framerate
for cam_id in self.board_config['cameras']:
cam_info = self.board_config['cameras'][cam_id]
if cam_info["name"] not in self.args.disableCamera:
if cam_info['type'] == 'mono':
cam_node = pipeline.createMonoCamera()
xout = pipeline.createXLinkOut()
sensorName = cam_info['sensorName']
print(f'Sensor name for {cam_info["name"]} is {sensorName}')
cam_node.setBoardSocket(stringToCam[cam_id])
cam_node.setResolution(camToMonoRes[cam_info['sensorName']])
cam_node.setFps(fps)
xout.setStreamName(cam_info['name'])
cam_node.out.link(xout.input)
else:
cam_node = pipeline.createColorCamera()
xout = pipeline.createXLinkOut()
cam_node.setBoardSocket(stringToCam[cam_id])
sensorName = cam_info['sensorName']
print(f'Sensor name for {cam_info["name"]} is {sensorName}')
cam_node.setResolution(camToRgbRes[cam_info['sensorName'].upper()])
cam_node.setFps(fps)
xout.setStreamName(cam_info['name'])
cam_node.raw.link(xout.input)
if cam_info['sensorName'] == "OV9*82":
cam_node.initialControl.setSharpness(0)
cam_node.initialControl.setLumaDenoise(0)
cam_node.initialControl.setChromaDenoise(4)
if cam_info['hasAutofocus']:
if self.args.rgbLensPosition:
cam_node.initialControl.setManualFocus(int(self.args.rgbLensPosition[stringToCam[cam_id].name.lower()]))
else:
cam_node.initialControl.setManualFocus(135)
controlIn = pipeline.createXLinkIn()
controlIn.setStreamName(cam_info['name'] + '-control')
controlIn.out.link(cam_node.inputControl)
cam_node.initialControl.setAntiBandingMode(antibandingOpts[self.args.antibanding])
xout.input.setBlocking(False)
xout.input.setQueueSize(1)
return pipeline
def parse_frame(self, frame, stream_name):
if frame.dtype == np.uint16:
scaled_frame = (frame//256).astype(np.uint8)
else:
scaled_frame = frame
if not self.is_markers_found(scaled_frame):
return False
filename = calibUtils.image_filename(self.current_polygon, self.images_captured)
path = Path(self.args.datasetPath) / stream_name / filename
path.parent.mkdir(parents=True, exist_ok=True)
cv2.imwrite(str(path), frame)
print("py: Saved image as: " + str(path))
return True
def show_info_frame(self):
info_frame = np.zeros((600, 1100, 3), np.uint8)
print("Starting image capture. Press the [ESC] key to abort.")
if self.enablePolygonsDisplay:
print("Will take {} total images, {} per each polygon.".format(
self.total_images, self.args.count))
else:
print("Will take {} total images.".format(
self.total_images))
def show(position, text):
cv2.putText(info_frame, text, position,
cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 255, 0))
show((25, 40), "Calibration of camera {}". format(self.board_name))
show((25, 100), "Information about image capture:")
show((25, 160), "Press the [ESC] key to abort.")
show((25, 220), "Press the [spacebar] key to capture the image.")
show((25, 280), "Press the \"s\" key to stop capturing images and begin calibration.")
if self.enablePolygonsDisplay:
show((25, 360), "Polygon on the image represents the desired chessboard")
show((25, 420), "position, that will provide best calibration score.")
show((25, 480), "Will take {} total images, {} per each polygon.".format(
self.total_images, self.args.count))
else:
show((25, 480), "Will take {} total images.".format(
self.total_images))
show((25, 550), "To continue, press [spacebar]...")
cv2.imshow("info", info_frame)
while True:
key = cv2.waitKey(1)
if key & 0xFF == ord(" "):
cv2.destroyAllWindows()
return
elif key & 0xFF == 27 or key == ord("q"): # 27 - ESC
cv2.destroyAllWindows()
raise SystemExit(0)
def show_failed_capture_frame(self):
width, height = int(
self.width * self.output_scale_factor), int(self.height * self.output_scale_factor)
info_frame = np.zeros((self.height, self.width, 3), np.uint8)
if self.args.cameraMode != "perspective":
print("py: Capture failed, unable to find full board! Fix position and press spacebar again")
else:
print("py: Capture failed, unable to find chessboard! Fix position and press spacebar again")
def show(position, text):
cv2.putText(info_frame, text, position,
cv2.FONT_HERSHEY_TRIPLEX, 0.7, (0, 255, 0))
show((50, int(height / 2 - 40)),
"Capture failed, unable to find chessboard!")
show((60, int(height / 2 + 40)), "Fix position and press spacebar again")
# cv2.imshow("left", info_frame)
# cv2.imshow("right", info_frame)
cv2.imshow(self.display_name, info_frame)
cv2.waitKey(1000)
def show_failed_sync_images(self):
width, height = int(
self.width * self.output_scale_factor), int(self.height * self.output_scale_factor)
info_frame = np.zeros((self.height, self.width, 3), np.uint8)
print(f"py: Capture failed, unable to sync images! Fix the argument minSyncTimestamp or (-mts). Set to: {self.minSyncTimestamp}")
def show(position, text):
cv2.putText(info_frame, text, position,
cv2.FONT_HERSHEY_TRIPLEX, 0.7, (0, 255, 0))
show((50, int(height / 2 - 40)),
"Capture failed, unable to sync images!")
show((60, int(height / 2 + 40)), "Fix the argument -mst.")
# cv2.imshow("left", info_frame)
# cv2.imshow("right", info_frame)
cv2.imshow(self.display_name, info_frame)
cv2.waitKey(0)
def show_failed_orientation(self):
width, height = int(
self.width * self.output_scale_factor), int(self.height * self.output_scale_factor)
info_frame = np.zeros((height, width, 3), np.uint8)
print("py: Capture failed, Swap the camera's ")
def show(position, text):
cv2.putText(info_frame, text, position,
cv2.FONT_HERSHEY_TRIPLEX, 0.7, (0, 255, 0))
show((60, int(height / 2 - 40)), "Calibration failed, ")
show((60, int(height / 2)), "Device might be held upside down!")
show((60, int(height / 2)), "Or ports connected might be inverted!")
show((60, int(height / 2 + 40)), "Fix orientation")
show((60, int(height / 2 + 80)), "and start again")
# cv2.imshow("left", info_frame)
# cv2.imshow("right", info_frame)
cv2.imshow("left + right", info_frame)
cv2.waitKey(0)
raise Exception(
"Calibration failed, Camera Might be held upside down. start again!!")
def empty_calibration(self, calib: dai.CalibrationHandler):
data = calib.getEepromData()
for attr in ["boardName", "boardRev"]:
if getattr(data, attr): return False
return True
def capture_images_sync(self):
finished = False
capturing = False
start_timer = False
timer = self.args.captureDelay
prev_time = None
curr_time = None
self.display_name = "Image Window"
self.minSyncTimestamp = self.args.minSyncTimestamp
syncCollector = MessageSync(len(self.camera_queue), self.minSyncTimestamp) # 3ms tolerance
syncCollector.traceLevel = self.args.traceLevel
self.mouseTrigger = False
sync_trys = 0
while not finished:
currImageList = {}
for key in self.camera_queue.keys():
frameMsg = self.camera_queue[key].get()
#print(f'Timestamp of {key} is {frameMsg.getTimestamp()}')
syncCollector.add_msg(key, frameMsg)
color_frame = None
if frameMsg.getType() in [dai.RawImgFrame.Type.RAW8, dai.RawImgFrame.Type.GRAY8] :
color_frame = cv2.cvtColor(frameMsg.getCvFrame(), cv2.COLOR_GRAY2BGR)
else:
color_frame = (get_image(frameMsg)//256).astype(np.uint8)
# color_frame = frameMsg.getCvFrame()
currImageList[key] = color_frame
# print(gray_frame.shape)
resizeHeight = 0
resizeWidth = 0
for name, imgFrame in currImageList.items():
currImageList[name] = cv2.resize(self.draw_markers(imgFrame),
(0, 0),
fx=self.output_scale_factor,
fy=self.output_scale_factor)
height, width, _ = currImageList[name].shape
widthRatio = resizeWidth / width
heightRatio = resizeHeight / height
if (widthRatio > 0.8 and heightRatio > 0.8 and widthRatio <= 1.0 and heightRatio <= 1.0) or (widthRatio > 1.2 and heightRatio > 1.2) or (resizeHeight == 0):
resizeWidth = width
resizeHeight = height
# elif widthRatio > 1.2 and heightRatio > 1.2:
# if width < resizeWidth:
# resizeWidth = width
# if height > resizeHeight:
# resizeHeight = height
# print(f'Scale Shape is {resizeWidth}x{resizeHeight}' )
if self.args.invert_v and self.args.invert_h:
currImageList[name] = cv2.flip(currImageList[name], -1)
elif self.args.invert_v:
currImageList[name] = cv2.flip(currImageList[name], 0)
elif self.args.invert_h:
currImageList[name] = cv2.flip(currImageList[name], 1)
combinedImage = None
combinedCoverageImage = None
for name, imgFrame in currImageList.items():
height, width, _ = imgFrame.shape
if width > resizeWidth and height > resizeHeight:
imgFrame = cv2.resize(
imgFrame, (0, 0), fx= resizeWidth / width, fy= resizeWidth / width)
# print(f'final_scaledImageSize is {imgFrame.shape}')
if self.polygons is None:
self.height, self.width, _ = imgFrame.shape
# print(self.height, self.width)
self.polygons = calibUtils.setPolygonCoordinates(
self.height, self.width)
if self.current_polygon<len(self.polygons):
localPolygon = np.array([self.polygons[self.current_polygon]])
# print(localPolygon.shape)
# print(localPolygon)
if self.images_captured_polygon == 1:
# perspectiveRotationMatrix = Rotation.from_euler('z', 45, degrees=True).as_matrix()
angle = 30.
theta = (angle/180.) * np.pi
perspectiveRotationMatrix = np.array([[np.cos(theta), -np.sin(theta)],
[np.sin(theta), np.cos(theta)]])
localPolygon = np.matmul(localPolygon, perspectiveRotationMatrix).astype(np.int32)
localPolygon[0][:, 1] += abs(localPolygon.min())
if self.images_captured_polygon == 2:
# perspectiveRotationMatrix = Rotation.from_euler('z', -45, degrees=True).as_matrix()
angle = -30.
theta = (angle/180.) * np.pi
perspectiveRotationMatrix = np.array([[np.cos(theta), -np.sin(theta)],
[np.sin(theta), np.cos(theta)]])
localPolygon = np.matmul(localPolygon, perspectiveRotationMatrix).astype(np.int32)
localPolygon[0][:, 1] += (height - abs(localPolygon[0][:, 1].max()))
localPolygon[0][:, 0] += abs(localPolygon[0][:, 1].min())
if self.images_captured_polygon<len(self.polygons) and self.args.enablePolygonsDisplay:
cv2.polylines(
imgFrame, localPolygon,
True, (0, 0, 255), 4)
height, width, _ = imgFrame.shape
# TO-DO: fix the rooquick and dirty fix: if the resized image is higher than the target resolution, crop it
if height > resizeHeight:
height_offset = (height - resizeHeight)//2
imgFrame = imgFrame[height_offset:height_offset+resizeHeight, :]
height, width, _ = imgFrame.shape
height_offset = (resizeHeight - height)//2
width_offset = (resizeWidth - width)//2
subImage = np.pad(imgFrame, ((height_offset, height_offset), (width_offset, width_offset), (0, 0)), 'constant', constant_values=0)
if self.coverageImages[name] is not None:
if len(self.coverageImages[name].shape) != 3:
self.coverageImages[name] = cv2.cvtColor(self.coverageImages[name], cv2.COLOR_GRAY2RGB)
imgFrame = self.coverageImages[name]
cv2.resize(imgFrame, (0, 0), fx=self.output_scale_factor*2, fy=self.output_scale_factor*2)
height, width, _ = imgFrame.shape
if width > resizeWidth and height > resizeHeight:
imgFrame = cv2.resize(
imgFrame, (0, 0), fx= resizeWidth / width, fy= resizeWidth / width)
height, width, _ = imgFrame.shape
if height > resizeHeight:
height_offset = (height - resizeHeight)//2
imgFrame = imgFrame[height_offset:height_offset+resizeHeight, :]
height, width, _ = imgFrame.shape
height_offset = (resizeHeight - height)//2
width_offset = (resizeWidth - width)//2
padding = ((height_offset, height_offset), (width_offset,width_offset), (0, 0))
subCoverageImage = np.pad(imgFrame, padding, 'constant', constant_values=0)
print_text = f"Camera: {name}, picture {self.images_captured}"
cv2.putText(subCoverageImage, print_text, (15, 15+height_offset), cv2.FONT_HERSHEY_SIMPLEX, 2*imgFrame.shape[0]/1750, (0, 0, 0), 2)
if combinedCoverageImage is None:
combinedCoverageImage = subCoverageImage
else:
combinedCoverageImage = np.hstack((combinedCoverageImage, subCoverageImage))
if combinedImage is None:
combinedImage = subImage
else:
combinedImage = np.hstack((combinedImage, subImage))
key = cv2.waitKey(1)
if (key & 0xFF)== 27 or (key & 0xFF) == ord("q"):
print("py: Calibration has been interrupted!")
raise SystemExit(0)
elif key == ord(" ") or self.mouseTrigger == True:
start_timer = True
prev_time = time.time()
timer = self.args.captureDelay
self.mouseTrigger = False
if key == 27 or key == ord("s"):
finished = True
print("Capturing interrupted by user, procceding with processing of images.")
cv2.destroyAllWindows()
break
display_image = combinedImage
if start_timer == True:
curr_time = time.time()
if curr_time - prev_time >= 1:
prev_time = curr_time
timer = timer - 1
if timer <= 0 and start_timer == True:
start_timer = False
capturing = True
print('Start capturing...')
image_shape = combinedImage.shape
cv2.putText(display_image, str(timer),
(image_shape[1]//2, image_shape[0]//2), font,
7, (0, 0, 255),
4, cv2.LINE_AA)
cv2.namedWindow(self.display_name)
if self.args.mouseTrigger:
cv2.setMouseCallback(self.display_name, self.mouse_event_callback)
cv2.imshow(self.display_name, display_image)
if combinedCoverageImage is not None:
#combinedCoverageImage = cv2.resize(combinedCoverageImage, (0, 0), fx=self.output_scale_factor*2, fy=self.output_scale_factor*2)
cv2.imshow("Coverage-Image", combinedCoverageImage)
tried = {}
allPassed = True
if capturing:
syncedMsgs = syncCollector.get_synced()
if sync_trys > 10:
self.show_failed_sync_images()
finished = True
self.device.close()
print("Images were unable to sync, threshold to high. Device closing with exception.")
raise SystemExit(1)
if syncedMsgs == False or syncedMsgs == None:
for key in self.camera_queue.keys():
self.camera_queue[key].getAll()
sync_trys += 1
continue
for name, frameMsg in syncedMsgs.items():
print(f"Time stamp of {name} is {frameMsg.getTimestamp()}")
if self.coverageImages[name] is None:
width = frameMsg.getWidth()
height = frameMsg.getHeight()
coverageShape = (height, width)
self.coverageImages[name] = np.ones(coverageShape, np.uint8) * 255
color_frame = get_image(frameMsg)
tried[name] = self.parse_frame(color_frame, name)
print(f'Status of {name} is {tried[name]}')
allPassed = allPassed and tried[name]
if allPassed:
color = (int(np.random.randint(0, 255)), int(np.random.randint(0, 255)), int(np.random.randint(0, 255)))
for name, frameMsg in syncedMsgs.items():
if frameMsg.getType() in [dai.RawImgFrame.Type.RAW8, dai.RawImgFrame.Type.GRAY8] :
color_frame = cv2.cvtColor(frameMsg.getCvFrame(), cv2.COLOR_GRAY2BGR)
else:
# color_frame = get_image(frameMsg)
color_frame = (get_image(frameMsg)//256).astype(np.uint8)
frameMsg_frame = color_frame
# if len(frameMsg.getCvFrame().shape) != 3:
# frameMsg_frame = cv2.cvtColor(frameMsg.getCvFrame(), cv2.COLOR_GRAY2RGB)
if len(self.coverageImages[name].shape) != 3:
self.coverageImages[name] = cv2.cvtColor(self.coverageImages[name], cv2.COLOR_GRAY2RGB)
self.coverageImages[name] = self.draw_corners(frameMsg_frame, self.coverageImages[name], color)
if not self.images_captured:
if 'stereo_config' in self.board_config['cameras']:
leftStereo = self.board_config['cameras'][self.board_config['stereo_config']['left_cam']]['name']
rightStereo = self.board_config['cameras'][self.board_config['stereo_config']['right_cam']]['name']
print(f'Left Camera of stereo is {leftStereo} and right Camera of stereo is {rightStereo}')
# if not self.test_camera_orientation(syncedMsgs[leftStereo].getCvFrame(), syncedMsgs[rightStereo].getCvFrame()):
# self.show_failed_orientation()
self.images_captured += 1
self.images_captured_polygon += 1
capturing = False
else:
self.show_failed_capture_frame()
capturing = False
# print(f'self.images_captured_polygon {self.images_captured_polygon}')
# print(f'self.current_polygon {self.current_polygon}')
# print(f'len(self.polygons) {len(self.polygons)}')
if self.images_captured_polygon == self.args.count:
self.images_captured_polygon = 0
self.current_polygon += 1
if self.args.numPictures == None:
if self.current_polygon == len(self.polygons):
finished = True
cv2.destroyAllWindows()
break
else:
if self.images_captured == self.args.numPictures:
finished = True
cv2.destroyAllWindows()
break