save calibration npz

Author: makelove

ch200_Extra_modules/aruco/Camera Calibration using ChArUco and Python/aruco_test1.py

@@ -28,7 +28,7 @@
 allCorners = []
 allIds = []
 decimator = 0
-for i in range(100):
+for i in range(200):
 
     ret, frame = cap.read()
     gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
@@ -57,6 +57,9 @@
     cal = cv2.aruco.calibrateCameraCharuco(allCorners, allIds, board, imsize, None, None)#return retval, cameraMatrix, distCoeffs, rvecs, tvecs
     print(cal)
     retval, cameraMatrix, distCoeffs, rvecs, tvecs = cal#TODO 然后怎么办？
+    #TODO saveCameraParams
+    np.savez('calib.npz',mtx=cameraMatrix,dist=distCoeffs,rvecs=rvecs,tvecs=tvecs)
+    # np.savez(outfile, x=x, y=y)
 except:
     cap.release()
 

ch200_Extra_modules/aruco/Camera Calibration using ChArUco and Python/calib.npz

@@ -0,0 +1,67 @@
+# -*- coding: utf-8 -*-
+# @Time    : 2017/7/27 18:04
+# @Author  : play4fun
+# @File    : calibrateCamera2.py
+# @Software: PyCharm
+
+"""
+calibrateCamera2.py:
+"""
+
+import cv2
+import numpy as np
+
+
+def draw_axis(img, charuco_corners, charuco_ids, board):
+    vecs = np.load("./calib.npz")  # I already calibrated the camera
+    mtx, dist, _, _ = [vecs[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
+    ret, rvec, tvec = cv2.aruco.estimatePoseCharucoBoard(
+        charuco_corners, charuco_ids, board, mtx, dist)
+    if ret is not None and ret is True:
+        cv2.aruco.drawAxis(img, mtx, dist, rvec, tvec, 0.1)
+
+
+def get_image(camera):
+    ret, img = camera.read()
+    return img
+
+
+def make_grayscale(img):
+    ret = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+    return ret
+
+
+def main():
+    camera = cv2.VideoCapture(0)
+    img = get_image(camera)
+    while True:
+        cv2.imshow('calibration', img)
+        cv2.waitKey(10)
+        img = get_image(camera)
+        gray = make_grayscale(img)
+        corners, ids, rejected = cv2.aruco.detectMarkers(gray, aruco_dict,
+                                                         corners, ids)
+        cv2.aruco.drawDetectedMarkers(img, corners, ids)
+        if ids is not None and corners is not None \
+                and len(ids) > 0 and len(ids) == len(corners):
+            diamond_corners, diamond_ids = \
+                cv2.aruco.detectCharucoDiamond(img, corners, ids,
+                                               0.05 / 0.03, cameraMatrix=mtx,
+                                               distCoeffs=dist)
+            cv2.aruco.drawDetectedDiamonds(img, diamond_corners, diamond_ids)
+            '''if diamond_ids is not None and len(diamond_ids) >= 4:
+                break'''
+            board = cv2.aruco.CharucoBoard_create(9, 6, 0.05, 0.03,
+                                                  aruco_dict)
+            if diamond_corners is not None and diamond_ids is not None \
+                    and len(diamond_corners) == len(diamond_ids):
+                count, char_corners, char_ids = \
+                    cv2.aruco.interpolateCornersCharuco(diamond_corners,
+                                                        diamond_ids, gray,
+                                                        board)
+                if count >= 3:
+                    draw_axis(img, char_corners, char_ids, board)
+
+
+if __name__ == '__main__':
+    main()