From 2feb0c2f613c63792f17eb14b4f846c37748c1e5 Mon Sep 17 00:00:00 2001
From: Arthur Pastel <arthur.pastel@telecom-paristech.fr>
Date: Thu, 23 Nov 2017 19:27:11 +0100
Subject: [PATCH] Merge pull request #9895 from art049:parrallel_calibration_py
* Adding threading in calibrate.py
* samples: update calibrate.py
---
samples/python/calibrate.py | 55 ++++++++++++++++++++++++-------------
1 file changed, 36 insertions(+), 19 deletions(-)
diff --git a/samples/python/calibrate.py b/samples/python/calibrate.py
index 00dfe57fe6..a5c4a91f5e 100755
--- a/samples/python/calibrate.py
+++ b/samples/python/calibrate.py
@@ -30,18 +30,19 @@ if __name__ == '__main__':
import getopt
from glob import glob
- args, img_mask = getopt.getopt(sys.argv[1:], '', ['debug=', 'square_size='])
+ args, img_mask = getopt.getopt(sys.argv[1:], '', ['debug=', 'square_size=', 'threads='])
args = dict(args)
args.setdefault('--debug', './output/')
args.setdefault('--square_size', 1.0)
+ args.setdefault('--threads', 4)
if not img_mask:
- img_mask = '../data/left*.jpg' # default
+ img_mask = '../data/left??.jpg' # default
else:
img_mask = img_mask[0]
img_names = glob(img_mask)
debug_dir = args.get('--debug')
- if not os.path.isdir(debug_dir):
+ if debug_dir and not os.path.isdir(debug_dir):
os.mkdir(debug_dir)
square_size = float(args.get('--square_size'))
@@ -52,16 +53,16 @@ if __name__ == '__main__':
obj_points = []
img_points = []
- h, w = 0, 0
- img_names_undistort = []
- for fn in img_names:
- print('processing %s... ' % fn, end='')
+ h, w = cv2.imread(img_names[0], 0).shape[:2] # TODO: use imquery call to retrieve results
+
+ def processImage(fn):
+ print('processing %s... ' % fn)
img = cv2.imread(fn, 0)
if img is None:
print("Failed to load", fn)
- continue
+ return None
- h, w = img.shape[:2]
+ assert w == img.shape[1] and h == img.shape[0], ("size: %d x %d ... " % (img.shape[1], img.shape[0]))
found, corners = cv2.findChessboardCorners(img, pattern_size)
if found:
term = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_COUNT, 30, 0.1)
@@ -71,19 +72,29 @@ if __name__ == '__main__':
vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
cv2.drawChessboardCorners(vis, pattern_size, corners, found)
path, name, ext = splitfn(fn)
- outfile = debug_dir + name + '_chess.png'
+ outfile = os.path.join(debug_dir, name + '_chess.png')
cv2.imwrite(outfile, vis)
- if found:
- img_names_undistort.append(outfile)
if not found:
print('chessboard not found')
- continue
+ return None
- img_points.append(corners.reshape(-1, 2))
- obj_points.append(pattern_points)
+ print(' %s... OK' % fn)
+ return (corners.reshape(-1, 2), pattern_points)
- print('ok')
+ threads_num = int(args.get('--threads'))
+ if threads_num <= 1:
+ chessboards = [processImage(fn) for fn in img_names]
+ else:
+ print("Run with %d threads..." % threads_num)
+ from multiprocessing.dummy import Pool as ThreadPool
+ pool = ThreadPool(threads_num)
+ chessboards = pool.map(processImage, img_names)
+
+ chessboards = [x for x in chessboards if x is not None]
+ for (corners, pattern_points) in chessboards:
+ img_points.append(corners)
+ obj_points.append(pattern_points)
# calculate camera distortion
rms, camera_matrix, dist_coefs, rvecs, tvecs = cv2.calibrateCamera(obj_points, img_points, (w, h), None, None)
@@ -94,10 +105,16 @@ if __name__ == '__main__':
# undistort the image with the calibration
print('')
- for img_found in img_names_undistort:
+ for fn in img_names if debug_dir else []:
+ path, name, ext = splitfn(fn)
+ img_found = os.path.join(debug_dir, name + '_chess.png')
+ outfile = os.path.join(debug_dir, name + '_undistorted.png')
+
img = cv2.imread(img_found)
+ if img is None:
+ continue
- h, w = img.shape[:2]
+ h, w = img.shape[:2]
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(camera_matrix, dist_coefs, (w, h), 1, (w, h))
dst = cv2.undistort(img, camera_matrix, dist_coefs, None, newcameramtx)
@@ -105,7 +122,7 @@ if __name__ == '__main__':
# crop and save the image
x, y, w, h = roi
dst = dst[y:y+h, x:x+w]
- outfile = img_found + '_undistorted.png'
+
print('Undistorted image written to: %s' % outfile)
cv2.imwrite(outfile, dst)