calibration

calibration_tools/camera_calibration.py

@@ -90,4 +90,169 @@ def onTrack4(val):
 # cameras = sl.Camera.get_device_list()
 # for cam in cameras:
 #     # Create and open the camera for each serial number
-#     zed = self.open_camera(cam.serial_number)
+#     zed = self.open_camera(cam.serial_number)
+
+# old:
+import pyzed.sl as sl
+import matplotlib.pyplot as plt
+import numpy as np
+import cv2
+import os
+os.chdir("23-I-12_SysArch/Experiments/Calibration Utilities")
+image = cv2.imread("test.jpg")
+height, width, _ = image.shape 
+window_height, window_width = height, width
+roi_x = 1
+roi_w = width
+roi_y = 1
+roi_h = height
+def onTrack1(val):
+    global roi_x
+    roi_x=val
+    print('roi x',roi_x)
+def onTrack2(val):
+    global roi_w
+    roi_w=val
+    print('roi w',roi_w)
+def onTrack3(val):
+    global roi_y
+    roi_y=val
+    print('roi y',roi_y)
+def onTrack4(val):
+    global roi_h
+    roi_h=val
+    print('roi h',roi_h)
+cv2.namedWindow('roi calibration', cv2.WINDOW_NORMAL)
+cv2.resizeWindow('roi calibration', window_width, window_height)
+cv2.moveWindow('roi calibration',0,0)
+cv2.createTrackbar('x pos','roi calibration',1,width-1,onTrack1)
+cv2.createTrackbar('width','roi calibration',width,width,onTrack2)
+cv2.createTrackbar('y pos','roi calibration',1,height-1,onTrack3)
+cv2.createTrackbar('height','roi calibration',height,height,onTrack4)
+
+init = sl.InitParameters()
+cam = sl.Camera()
+init.camera_resolution = sl.RESOLUTION.HD1080
+init.camera_fps = 30
+
+if not cam.is_opened():
+    print("Opening ZED Camera ")
+status = cam.open(init)
+if status != sl.ERROR_CODE.SUCCESS:
+    print(repr(status))
+    exit()
+
+runtime = sl.RuntimeParameters()
+mat = sl.Mat()
+
+while True:
+    err = cam.grab(runtime)
+    if err == sl.ERROR_CODE.SUCCESS:
+        cam.retrieve_image(mat, sl.VIEW.LEFT_UNRECTIFIED)
+        image = mat.get_data()
+        image = cv2.cvtColor(image, cv2.COLOR_RGBA2RGB)
+
+    frame = image[roi_y:roi_h+1, roi_x:roi_w+1]
+
+    blank_image = np.zeros((window_height, window_width, 3), np.uint8)
+    x_offset = max((window_width - frame.shape[1]) // 2, 0)
+    y_offset = max((window_height - frame.shape[0]) // 2, 0)
+
+    blank_image[y_offset:y_offset+frame.shape[0], x_offset:x_offset+frame.shape[1]] = frame
+
+    cv2.imshow('roi calibration', blank_image)
+    if cv2.waitKey(1) & 0xff ==ord('q'):
+        break
+
+cam.close()
+print("ZED Camera closed")
+cv2.destroyAllWindows()
+
+# newest
+import pyzed.sl as sl
+import matplotlib.pyplot as plt
+import numpy as np
+import cv2
+import os
+import pandas as pd
+
+os.chdir("23-I-12_SysArch/Experiments/Calibration Utilities")
+image = cv2.imread("test.jpg")
+
+height, width, _ = image.shape 
+window_height, window_width = height, width
+df = pd.read_csv('values.csv')
+
+roi_x = 1
+roi_w = width
+roi_y = 1
+roi_h = height
+default_brightness = df['brightness'][0]
+default_contrast = df['contrast'][0]
+default_hue = df['hue'][0]
+default_saturation = df['saturation'][0]
+default_sharpness = df['sharpness'][0]
+default_gamma = df['gamma'][0]
+default_gain = df['gain'][0]
+
+def onTrack1(val):
+    global roi_x
+    roi_x=val
+    print('roi x',roi_x)
+def onTrack2(val):
+    global roi_w
+    roi_w=val
+    print('roi w',roi_w)
+def onTrack3(val):
+    global roi_y
+    roi_y=val
+    print('roi y',roi_y)
+def onTrack4(val):
+    global roi_h
+    roi_h=val
+    print('roi h',roi_h)
+def onTrack4(val):
+    global roi_h
+    roi_h=val
+    print('roi h',roi_h)
+
+cv2.namedWindow('roi calibration', cv2.WINDOW_NORMAL)
+cv2.resizeWindow('roi calibration', window_width, window_height)
+cv2.moveWindow('roi calibration',0,0)
+cv2.createTrackbar('x pos','roi calibration',1,width-1,onTrack1)
+cv2.createTrackbar('width','roi calibration',width,width,onTrack2)
+cv2.createTrackbar('y pos','roi calibration',1,height-1,onTrack3)
+cv2.createTrackbar('height','roi calibration',height,height,onTrack4)
+init = sl.InitParameters()
+cam = sl.Camera()
+init.camera_resolution = sl.RESOLUTION.HD1080
+init.camera_fps = 30
+if not cam.is_opened():
+    print("Opening ZED Camera ")
+status = cam.open(init)
+if status != sl.ERROR_CODE.SUCCESS:
+    print(repr(status))
+    exit()
+runtime = sl.RuntimeParameters()
+mat = sl.Mat()
+while True:
+    err = cam.grab(runtime)
+    if err == sl.ERROR_CODE.SUCCESS:
+        cam.retrieve_image(mat, sl.VIEW.LEFT_UNRECTIFIED)
+        image = mat.get_data()
+        image = cv2.cvtColor(image, cv2.COLOR_RGBA2RGB)
+
+    frame = image[roi_y:roi_h+1, roi_x:roi_w+1]
+
+    blank_image = np.zeros((window_height, window_width, 3), np.uint8)
+    x_offset = max((window_width - frame.shape[1]) // 2, 0)
+    y_offset = max((window_height - frame.shape[0]) // 2, 0)
+
+    blank_image[y_offset:y_offset+frame.shape[0], x_offset:x_offset+frame.shape[1]] = frame
+
+    cv2.imshow('roi calibration', blank_image)
+    if cv2.waitKey(1) & 0xff ==ord('q'):
+        break
+cam.close()
+print("ZED Camera closed")
+cv2.destroyAllWindows()