OpenCVとPythonと私 vol.6
#!/usr/bin/python
import cv, numpy
from opencv import highgui
import sys
import getopt
filename = None
debug = False
rows = 0
columns = 0
span = 0
sourceFile = None
destinationFile = 'result.png'
def main () :
global filename
global debug
global rows
global columns
global span
global sourceFile
global destinationFile
try:
opts, args = getopt.getopt( sys.argv[1:], "hdr:c:s:u:o:",["help","debug","rows","columns","span","undistort","output"])
except getopt.GetoptError, err :
print str( err )
usage()
sys.exit(2)
if len( args ) != 0 :
filename = args[:]
else :
usage()
sys.exit(0)
for o, a in opts :
if o in ( "-h", "--help" ) :
usage()
sys.exit(0)
elif o in ( "-d", "--debug" ) :
debug = True
elif o in ( "-r", "--rows" ) :
rows = int( a )
elif o in ( "-c", "--columns" ) :
columns = int( a )
elif o in ( "-s", "--span" ) :
span = int( a )
elif o in ( "-u", "--undistort" ) :
sourceFile = a
elif o in ( "-o", "--output" ) :
destinationFile = a
else :
assert False, "unhandled option"
def debugout ( str ) :
if debug == True :
print str
def usage () :
print "Usage: undistortTest.py [OPTION] FILE"
print " "
print " -h, --help Display this message."
print " -d, --debug Output debug log."
print " -r, --rows Row counts of chessboard's corners"
print " -c, --columns Column counts of chessboard's corners"
print " -s, --span Length of between 2 corners"
print " -u, --undistort Specify distorted image."
print " -o, --output Set undistorted output file name."
if __name__ == "__main__" :
main()
objectPointsList =
imagePointsList =
for element in filename :
'''
debugout( "Input file name is " + element )
'''
img = cv.LoadImage( element , cv.CV_LOAD_IMAGE_GRAYSCALE )
corners = cv.FindChessboardCorners( img, ( columns, rows ) )
for corner in corners[1] :
imagePointsList.append( list( corner ) )
ytmp = range( columns )
ytmp.reverse()
for x in range( rows ) :
for y in ytmp :
objectPoint = []
objectPoint.append( x * span )
objectPoint.append( y * span )
objectPoint.append( 0 )
objectPointsList.append( objectPoint )
del objectPoint
imagePointsArray = numpy.array( imagePointsList, 'float' )
imagePoints = cv.fromarray( imagePointsArray )
objectPointsArray = numpy.array( objectPointsList, 'float' )
objectPoints = cv.fromarray( objectPointsArray )
cameraMatrix = cv.CreateMat( 3, 3, cv.CV_32FC1 )
distortionCoeffs = cv.CreateMat( 1, 4, cv.CV_32FC1 )
rotationVector = cv.CreateMat( len( filename ), 3, cv.CV_32FC1 )
translationVector = cv.CreateMat( len( filename ), 3, cv.CV_32FC1 )
pointCountsArray = rows * columns * numpy.ones( ( len( filename ), 1 ) ,'int32')
pointCounts = cv.fromarray( pointCountsArray )
try:
cv.CalibrateCamera2( objectPoints, imagePoints, \
pointCounts ,\
( img.height, img.width ) ,\
cameraMatrix, distortionCoeffs,\
rotationVector, translationVector, 0 )
except cv.error, err :
print str( err )
sys.exit(2)
distortedImage = cv.LoadImageM( sourceFile )
undistortedImage = cv.LoadImageM( sourceFile )
cv.Undistort2( distortedImage, undistortedImage, cameraMatrix, distortionCoeffs )
cv.NamedWindow( "Before", cv.CV_WINDOW_AUTOSIZE )
cv.NamedWindow( "After", cv.CV_WINDOW_AUTOSIZE )
cv.MoveWindow( "Before", 100, 100)
cv.MoveWindow( "After", 100, 200 )
cv.ShowImage( "Before", distortedImage )
cv.ShowImage( "After", undistortedImage )
cv.SaveImage( destinationFile, undistortedImage )
print "Hit any key."
cv.WaitKey( 0 )
cv.DestroyWindow( "Before" )
cv.DestroyWindow( "After" )
OpenCV いろいろ確認
別にビルドしたいわけではないんだけどちょっと確認
↓このURLに当たれば大体いいでしょう。
http://opencv.willowgarage.com/wiki/InstallGuide%20%3A%20Debian
apt-get install build-essential apt-get install cmake apt-get install pkg-config apt-get install libpng12-0 libpng12-dev libpng++-dev libpng3 apt-get install libpnglite-dev libpngwriter0-dev libpngwriter0c2 apt-get install zlib1g-dbg zlib1g zlib1g-dev apt-get install libjasper-dev libjasper-runtime libjasper1 apt-get install pngtools libtiff4-dev libtiff4 libtiffxx0c2 libtiff-tools apt-get install libjpeg8 libjpeg8-dev libjpeg8-dbg libjpeg-prog apt-get install ffmpeg libavcodec-dev libavcodec52 libavformat52 libavformat-dev apt-get install libgstreamer0.10-0-dbg libgstreamer0.10-0 libgstreamer0.10-dev apt-get install libxine1-ffmpeg libxine-dev libxine1-bin apt-get install libunicap2 libunicap2-dev apt-get install libdc1394-22-dev libdc1394-22 libdc1394-utils apt-get install swig apt-get install libv4l-0 libv4l-dev apt-get install python-numpy
以下、自分の環境の確認
インストール済み
build-essential pkg-config libpng12-0 libpng12-dev zlib1g zlib1g-dev libjasper1 libtiff4 libjpeg8 libavcodec-dev libavformat-dev libgstreamer0.10-0 libdc1394-22 python-numpy swig libv4l-0
バージョン違いだけどインストールされてる
libavcodec52 -> libavcodec53 libavformat52 -> libavformat53
インストールされてない
cmake libpng++-dev libpng3 libpnglite-dev zlib1g-dbg libjasper-dev libjasper-runtime pngtools libtiff4-dev libtiffxx0c2 libtiff-tools libjpeg8-dev libjpeg8-dbg libjpeg-prog ffmpeg libgstreamer0.10-dev libgstreamer0.10-0-dbg libxine1-ffmpeg libxine-dev libxine1-bin libunicap2 libunicap2-dev libdc1394-22-dev libdc1394-utils libv4l-dev
Ubuntu 11.10にはこのパッケージは見つからなかった
libpngwriter0-dev libpngwriter0c2
OpenCVとPythonと私 vol.5
#!/usr/bin/python
import cv, numpy
from opencv import highgui
import sys
import getopt
filename = None
debug = False
rows = 0
columns = 0
span = 0
def main () :
global filename
global debug
global rows
global columns
global span
try:
opts, args = getopt.getopt( sys.argv[1:], "hdr:c:s:",["help","debug","rows","columns","span"])
except getopt.GetoptError, err :
print str( err )
usage()
sys.exit(2)
if len( args ) != 0 :
filename = args[:]
else :
usage()
sys.exit(0)
for o, a in opts :
if o in ( "-h", "--help" ) :
usage()
sys.exit(0)
elif o in ( "-d", "--debug" ) :
debug = True
elif o in ( "-r", "--rows" ) :
rows = int( a )
elif o in ( "-c", "--columns" ) :
columns = int( a )
elif o in ( "-s", "--span" ) :
span = int( a )
else :
assert False, "unhandled option"
def debugout ( str ) :
if debug == True :
print str
def usage () :
print "Usage: calibrateCamera.py [OPTION] FILE"
print " "
print " -h, --help Display this message."
print " -d, --debug Output debug log."
print " -r, --rows Row counts of chessboard's corners"
print " -c, --columns Column counts of chessboard's corners"
print " -s, --span Length of between 2 corners"
if __name__ == "__main__" :
main()
objectPointsList =
imagePointsList =
for element in filename :
debugout( "Input file name is " + element )
img = cv.LoadImage( element , cv.CV_LOAD_IMAGE_GRAYSCALE )
corners = cv.FindChessboardCorners( img, ( columns, rows ) )
for corner in corners[1] :
imagePointsList.append( list( corner ) )
tmp = list( corner )
debugout( "x_1 = " + str( tmp[0] ) + " / x_2 = " + str( tmp[1] ) )
del tmp
ytmp = range( columns )
ytmp.reverse()
for x in range( rows ) :
for y in ytmp :
objectPoint = []
objectPoint.append( x * span )
objectPoint.append( y * span )
objectPoint.append( 0 )
debugout( "X_1 = " + str( x * span ) + " / X_2 = " + str( y * span ) )
objectPointsList.append( objectPoint )
del objectPoint
imagePointsArray = numpy.array( imagePointsList, 'float' )
imagePoints = cv.fromarray( imagePointsArray )
debugout( "imagepoints: <size : " + str( cv.GetDims(imagePoints) ) + " >\n" + \
" <channels : " + str( cv.CV_MAT_CN(cv.GetElemType(imagePoints) ) ) + " >" )
objectPointsArray = numpy.array( objectPointsList, 'float' )
objectPoints = cv.fromarray( objectPointsArray )
debugout( "objectpoints: <size : " + str( cv.GetDims(objectPoints) ) + " >\n" + \
" <channels : " + str( cv.CV_MAT_CN(cv.GetElemType(objectPoints) ) ) + " >" )
cameraMatrix = cv.CreateMat( 3, 3, cv.CV_32FC1 )
distortionCoeffs = cv.CreateMat( 1, 4, cv.CV_32FC1 )
rotationVector = cv.CreateMat( len( filename ), 3, cv.CV_32FC1 )
translationVector = cv.CreateMat( len( filename ), 3, cv.CV_32FC1 )
pointCountsArray = rows * columns * numpy.ones( ( len( filename ), 1 ) ,'int32')
pointCounts = cv.fromarray( pointCountsArray )
debugout( "pointcounts: <size : " + str( cv.GetDims(pointCounts) ) + " >\n" + \
" <channels : " + str( cv.CV_MAT_CN(cv.GetElemType(pointCounts) ) ) + " >" )
try:
cv.CalibrateCamera2( objectPoints, imagePoints, \
pointCounts ,\
( img.height, img.width ) ,\
cameraMatrix, distortionCoeffs,\
rotationVector, translationVector, 0 )
except cv.error, err :
print str( err )
sys.exit(2)
print "CameraMatrix :"
print [ cameraMatrix[0,i] for i in range(3) ]
print [ cameraMatrix[1,i] for i in range(3) ]
print [ cameraMatrix[2,i] for i in range(3) ]
print "\n"
print "Distortion Coeffecients:"
print [ distortionCoeffs[0,i] for i in range(4) ]
print "\n"
print "Rotation Vector:"
print [ rotationVector[0,i] for i in range(3) ]
print "\n"
print "Translation Vector:"
print [ translationVector[0,i] for i in range(3) ]
print "\n"
OpenCVとPythonと私 vol.4
実験用のチェスボードは
http://blog.livedoor.jp/hen_cyberne/archives/2010-08.html
こちらの勉強されている方のを使わせていただきました。
で、FindChessboardCornersとDrawChessboardCornersを使ってみました。簡単ですね、OpenCV
#!/usr/bin/python
import cv
from opencv import highgui
import sys
import getopt
filename = None
debug = False
def main () :
global filename
global debug
try:
opts, args = getopt.getopt( sys.argv[1:], "hd",["help","debug"])
except getopt.GetoptError, err :
print str( err )
usage()
sys.exit(2)
if len( args ) != 0 :
filename = args[0]
else :
usage()
sys.exit(0)
for o, a in opts :
if o in ( "-h", "--help" ) :
usage()
sys.exit(0)
elif o in ( "-d", "--debug" ) :
debug = True
else :
assert False, "unhandled option"
def debugout ( str ) :
if debug == True :
print str
def usage () :
print "Usage: detectChessboard.py [OPTION] FILE"
print " "
print " -h, --help Display this message."
print " -d, --debug Output debug log."
if __name__ == "__main__" :
main()
debugout( "Input file name is " + filename )
img = cv.LoadImage( filename , cv.CV_LOAD_IMAGE_GRAYSCALE )
output = cv.LoadImage( filename )
crnrs = cv.FindChessboardCorners( img, (6,8) )
cv.DrawChessboardCorners( output, (6,8), crnrs[1], crnrs[0] )
cv.NamedWindow( "result", cv.CV_WINDOW_AUTOSIZE )
cv.MoveWindow( "result", 100, 100)
cv.ShowImage( "result", output )
cv.SaveImage( "result.png", output )
print "Hit any key."
cv.WaitKey( 0 )
cv.DestroyWindow( "result" )
OpenCVとPythonと私 appendix A
#!/usr/bin/python
import cv
from opencv import highgui
import sys
import getopt
inputName = None
outputName = None
debug = False
def main () :
global inputName
global outputName
global debug
try :
opts, args = getopt.getopt( sys.argv[1:], "hd", ["help","debug"] )
except getopt.GetoptError, err :
print str( err )
usage()
sys.exit(2)
if len( args ) != 0 :
debugout( "Argument 0 :" + args[0] )
debugout( "Argument 0 :" + args[1] )
outputName = args[0]
inputName = args[1]
else :
usage()
sys.exit(0)
for o, a in opts :
if o in ( "-h", "--help" ) :
usage()
sys.exit(0)
elif o in ( "-d", "--debug" ) :
debug = True
else :
assert False, "unhandled option"
def debugout ( str ) :
if debug == True :
print str
def usage() :
print "Usage: showImage.py [OPTION] FILE"
print " "
print " -h, --help Display this message."
print " -d, --debug Output debug log."
if __name__ == "__main__" :
main()
debugout( "Input file name is : " + inputName )
debugout( "Output file name is : " + outputName )
before = cv.LoadImageM( inputName , cv.CV_LOAD_IMAGE_GRAYSCALE )
debugout( "width : " + str( before.width ) )
debugout( "height: " + str( before.height ) )
cv.SaveImage( outputName , before )
OpenCVとPythonと私 vol.3
#!/usr/bin/python
import cv
from opencv import highgui
import sys
import getopt
filename = None
debug = False
def main () :
global filename
global debug
try :
opts, args = getopt.getopt( sys.argv[1:], "hd", ["help","debug"] )
except getopt.GetoptError, err :
print str( err )
usage()
sys.exit(2)
if len( args ) != 0 :
filename = args[0]
else :
usage()
sys.exit(0)
for o, a in opts :
if o in ( "-h", "--help" ) :
usage()
sys.exit(0)
elif o in ( "-d", "--debug" ) :
debug = True
else :
assert False, "unhandled option"
def debugout ( str ) :
if debug == True :
print str
def usage() :
print "Usage: showImage.py [OPTION] FILE"
print " "
print " -h, --help Display this message."
print " -d, --debug Output debug log."
if __name__ == "__main__" :
main()
debugout( "Input file name is " + filename )
before = cv.LoadImage( filename )
debugout( "width : " + str( before.width ) )
debugout( "height: " + str( before.height ) )
if before.width % 2 != 0 or before.height % 2 != 0 :
assert False, "input file cannot do with PyrDown"
cv.NamedWindow( "Before", 1 )
cv.MoveWindow( "Before", 100, 100 )
cv.NamedWindow( "After", 1 )
cv.MoveWindow( "After", 100+before.width, 100 )
size = ( before.width/2, before.height/2 )
after = cv.CreateImage( size , \
before.depth, before.nChannels )
cv.PyrDown( before, after )
cv.ShowImage( "Before", before )
cv.ShowImage( "After" , after )
print "Hit any key."
cv.WaitKey(0)
cv.DestroyWindow( "Before" )
cv.DestroyWindow( "After" )
OpenCVとPythonと私 vol.2
#!/usr/bin/python
import cv
from opencv import highgui
import sys
import getopt
filename = None
debug = False
def main () :
global filename
global debug
try :
opts, args = getopt.getopt( sys.argv[1:], "hd", ["help","debug"] )
except getopt.GetoptError, err :
print str( err )
usage()
sys.exit(2)
if len( args ) != 0 :
filename = args[0]
else :
usage()
sys.exit(0)
for o, a in opts :
if o in ( "-h", "--help" ) :
usage()
sys.exit(0)
elif o in ( "-d", "--debug" ) :
debug = True
else :
assert False, "unhandled option"
def debugout ( str ) :
if debug == True :
print str
def usage() :
print "Usage: showImage.py [OPTION] FILE"
print " "
print " -h, --help Display this message."
print " -d, --debug Output debug log."
if __name__ == "__main__" :
main()
debugout( "Input file name is " + filename )
before = cv.LoadImageM( filename )
debugout( "width : " + str( before.width ) )
debugout( "height: " + str( before.height ) )
cv.NamedWindow( "Before", 1 )
cv.MoveWindow( "Before", 100, 100 )
cv.NamedWindow( "After", 1 )
cv.MoveWindow( "After", 100+before.width, 100 )
after = cv.CreateImage( cv.GetSize( before ), cv.IPL_DEPTH_8U, 3 )
cv.Smooth( before, after, cv.CV_GAUSSIAN , 3 , 3 )
cv.ShowImage( "Before", before )
cv.ShowImage( "After" , after )
print "Hit any key."
cv.WaitKey(0)
cv.DestroyWindow( "Before" )
cv.DestroyWindow( "After" )
