In [6]:

    

import stereo_calibration_orig


    

In [67]:

    

reload(stereo_calibration_orig)


    

    
Out[67]:





<module 'stereo_calibration_orig' from 'stereo_calibration_orig.pyc'>

In [8]:

    

stereo_calibration_orig.stereo_calibration('/Users/emily/Documents/ProjectsCurrent/BORIS/session_data/raw/stereocalibration/kre/kre_cafe/',100)


    

    




 Usable stereo pairs: 33
Calibrating camera 1...

Estimated intrinsic parameters for camera 1:
[600.38379310822199, 0.0, 317.6402382218468]
[0.0, 602.19362158583385, 240.09003517485345]
[0.0, 0.0, 1.0]

Estimated distortion parameters for camera 1:
[[-0.17440844]
 [ 0.09702135]
 [-0.00449313]
 [-0.00058551]
 [-0.29232799]
 [ 0.20220003]
 [-0.08253744]
 [-0.39291792]]
Calibrating camera 2...

Estimated intrinsic parameters for camera 2:
[601.8487215301966, 0.0, 309.2880232557763]
[0.0, 603.58812476792582, 238.75002468669999]
[0.0, 0.0, 1.0]

Estimated distortion parameters for camera 2:
[[ -1.76774480e-01]
 [  1.45240161e-02]
 [ -3.80819573e-03]
 [  4.34410838e-04]
 [ -5.38980799e-01]
 [  1.94946932e-01]
 [ -8.98039646e-02]
 [ -9.00603533e-01]]

 rms pixel error:
cam1 orig: 0.256446534588
cam2 orig: 0.221234315099

 Stereo estimating...

Estimated extrinsic parameters between cameras 1 and 2:
Rotation:
[0.99997771827926252, -0.0015853544058396251, -0.0064845660153762391]
[0.0015833594911192641, 0.99999869757528292, -0.00031276262510084566]
[0.0064850534093228666, 0.00030248825706515617, 0.999978926069511]

Translation:
[-6.5160318317474832, -0.003704893132471077, -0.045249775978923809]

 rms pixel error:
stereo: 0.180333994059

Saving all parameters to the folder with checkerboard images...

In [1]:

    

import stereocalibration


    

In [4]:

    

reload(stereocalibration)


    

    
Out[4]:





<module 'stereocalibration' from 'stereocalibration.py'>

In [5]:

    

stereocalibration.stereocalibration('/Users/emily/Documents/ProjectsCurrent/BORIS/session_data/raw/stereocalibration/kre/kre_cafe/',100)


    

    




Detecting Circle Grid points...

 Usable stereo pairs: 41
Calibrating camera 1...

Estimated intrinsic parameters:
[[ 607.29972689    0.          314.9165524 ]
 [   0.          607.59090526  234.01812157]
 [   0.            0.            1.        ]]

Estimated distortion parameters:
[[ -6.03778537e-01]
 [  1.66638662e-01]
 [ -4.27559129e-04]
 [  4.90153899e-04]
 [ -4.29651970e-02]
 [ -2.27693364e-01]
 [ -1.48497534e-01]
 [  7.54299406e-02]]
Calibrating camera 2...

Estimated intrinsic parameters:
[[ 610.32065612    0.          313.31879481]
 [   0.          610.61910271  232.08596885]
 [   0.            0.            1.        ]]

Estimated distortion parameters:
[[  4.46582585e-01]
 [  4.73370219e-01]
 [ -3.95399000e-04]
 [ -2.98700605e-04]
 [ -1.07151423e+00]
 [  8.24326880e-01]
 [  5.89308086e-01]
 [ -1.16077784e+00]]

 rms pixel error:
cam1 orig: 0.184450774292 
cam2 orig: 0.161237553067

 Stereo estimating...

Estimated extrinsic parameters between cameras 1 and 2:
Rotation: [[  9.99976669e-01  -1.60465565e-03  -6.63973573e-03]
 [  1.59988670e-03   9.99998458e-01  -7.23492961e-04]
 [  6.64088645e-03   7.12853256e-04   9.99977695e-01]]

Translation: [-6.5201357583832307, -0.0017241845238051673, -0.010078736947782356]

 rms pixel error:
stereo: 0.173969714072

Saving all parameters to the folder with checkerboard images...

In [50]:

    

[img1,found1,points1] = stereocalibration.getcirclepoints('/Users/emily/Documents/ProjectsCurrent/BORIS/session_data/raw/stereocalibration/kre/kre_cafe/calibration_frames_2012-08-01/cam1_frame_3.bmp',(4,11))


    

In [58]:

    

points1


    

    
Out[58]:





array([[[ 219.7628479 ,   18.36930275]],

       [[ 267.71664429,   16.5026226 ]],

       [[ 315.67910767,   15.63172913]],

       [[ 363.37298584,   16.02654839]],

       [[ 243.35032654,   33.36188507]],

       [[ 292.6272583 ,   32.24374771]],

       [[ 341.8352356 ,   31.70520973]],

       [[ 390.35336304,   32.34250259]],

       [[ 217.29748535,   51.06294632]],

       [[ 268.30944824,   49.61459351]],

       [[ 318.97573853,   48.78683853]],

       [[ 369.20889282,   48.73703003]],

       [[ 242.25450134,   67.93720245]],

       [[ 294.72644043,   67.19091797]],

       [[ 346.59976196,   66.63425446]],

       [[ 397.45690918,   66.52258301]],

       [[ 215.66239929,   88.96458435]],

       [[ 268.79644775,   86.31221008]],

       [[ 322.51553345,   85.67716217]],

       [[ 375.49597168,   85.50339508]],

       [[ 241.95217896,  108.1072998 ]],

       [[ 296.88250732,  106.02561951]],

       [[ 351.79541016,  105.64916992]],

       [[ 405.18197632,  105.34880829]],

       [[ 213.38812256,  130.8684845 ]],

       [[ 269.95883179,  128.73753357]],

       [[ 326.39813232,  126.79515839]],

       [[ 382.26687622,  126.7082901 ]],

       [[ 241.50813293,  152.76509094]],

       [[ 299.65142822,  150.85557556]],

       [[ 357.33459473,  149.16403198]],

       [[ 413.54315186,  148.98297119]],

       [[ 211.80941772,  178.01174927]],

       [[ 271.31796265,  176.04148865]],

       [[ 331.02947998,  174.15356445]],

       [[ 389.54516602,  172.65551758]],

       [[ 241.26144409,  202.3886261 ]],

       [[ 302.612854  ,  200.70613098]],

       [[ 363.33374023,  198.58706665]],

       [[ 422.38677979,  197.71969604]],

       [[ 210.29508972,  230.6212616 ]],

       [[ 272.84384155,  228.29325867]],

       [[ 335.60922241,  226.56550598]],

       [[ 396.95007324,  224.26667786]]], dtype=float32)

In [54]:

    

import numpy as np
num_pts = 11 * 4
temp1 = np.zeros( (num_pts,2) )
for i in range(num_pts):
	temp1[i,0]	=	points1[i,0,0]
	temp1[i,1]	=	points1[i,0,1]


    

In [55]:

    

temp1


    

    
Out[55]:





array([[ 219.7628479 ,   18.36930275],
       [ 267.71664429,   16.5026226 ],
       [ 315.67910767,   15.63172913],
       [ 363.37298584,   16.02654839],
       [ 243.35032654,   33.36188507],
       [ 292.6272583 ,   32.24374771],
       [ 341.8352356 ,   31.70520973],
       [ 390.35336304,   32.34250259],
       [ 217.29748535,   51.06294632],
       [ 268.30944824,   49.61459351],
       [ 318.97573853,   48.78683853],
       [ 369.20889282,   48.73703003],
       [ 242.25450134,   67.93720245],
       [ 294.72644043,   67.19091797],
       [ 346.59976196,   66.63425446],
       [ 397.45690918,   66.52258301],
       [ 215.66239929,   88.96458435],
       [ 268.79644775,   86.31221008],
       [ 322.51553345,   85.67716217],
       [ 375.49597168,   85.50339508],
       [ 241.95217896,  108.1072998 ],
       [ 296.88250732,  106.02561951],
       [ 351.79541016,  105.64916992],
       [ 405.18197632,  105.34880829],
       [ 213.38812256,  130.8684845 ],
       [ 269.95883179,  128.73753357],
       [ 326.39813232,  126.79515839],
       [ 382.26687622,  126.7082901 ],
       [ 241.50813293,  152.76509094],
       [ 299.65142822,  150.85557556],
       [ 357.33459473,  149.16403198],
       [ 413.54315186,  148.98297119],
       [ 211.80941772,  178.01174927],
       [ 271.31796265,  176.04148865],
       [ 331.02947998,  174.15356445],
       [ 389.54516602,  172.65551758],
       [ 241.26144409,  202.3886261 ],
       [ 302.612854  ,  200.70613098],
       [ 363.33374023,  198.58706665],
       [ 422.38677979,  197.71969604],
       [ 210.29508972,  230.6212616 ],
       [ 272.84384155,  228.29325867],
       [ 335.60922241,  226.56550598],
       [ 396.95007324,  224.26667786]])

In [56]:

    

temp1.shape


    

    
Out[56]:





(44, 2)

In [57]:

    

points1.shape


    

    
Out[57]:





(44, 1, 2)

In [60]:

    

np.reshape(points1,(num_pts,2)).shape


    

    
Out[60]:





(44, 2)

In [65]:

    

iptsF1 	= []
iptsF1.append(np.reshape(points1,(num_pts,2)))


    

In [5]:

    

import cv2


    

In [45]:

    

cv2.FileStorage


    

    
Out[45]:





<function cv2.FileStorage>

In [77]:

    

range(1,500,5) + range(2,500,5) + range(3,500,5) + range(4,500,5) + range(5,500,5)


    

    
Out[77]:





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In [ ]: