OpenCV Camera

Simple threaded camera and calibration code using OpenCV. This tries to simplify some things

Install

The preferred way to install is using pip:

pip install opencv_camera

Usage

See the jupyter notebooks under the docs in the repository for some examples.

Online nbviewer

Colorspace

Change between common colorspaces with:

• bgr2gray(image)
• gray2bgr(image)
• bgr2rgb(image)
• rgb2bgr(image)
• bgr2hsv(image)
• hsv2bgr(image)

Calibration

Create a mosaic of input calibration images with mosaic(images, width)

Calibrate a camera with:

calibrator = CameraCalibration()
board = ChessboardFinder((9,6), 1)
cam, cal = calibrator.calibrate(images, board)

Display all of the found image points with coverage((width, height), imagePoints)

Distortion

Use the found calibration parameters to undistort an image:

un = UnDistort(cameraMatrix, distortionCoeff, w, h)
corr_img = un.undistort(image)

Visualize the lens distortion with:

visualizeDistortion(cameraMatrix, distortCoeff, height, width)

Stereo

Calibrate a stereo camera with:

stereoCal = StereoCalibration()
board = ChessboardFinder((9,6), 1)
ok, cm, sc = stereoCal.calibrate(imgL, imgR, board)

Draw epipolar lines in stereo images with drawEpipolarLines(imgpointsL,imgpointsR,imgL,imgR)

Apps

Use program --help to display switches for each of the following:

• opencv_calibrate: calibrate a camera
• opencv_capture: simple tool to capture and save images
• opencv_mjpeg: sets up a simple jmpeg server so you can view images in a web browser
• udp_server x.x.x.x: sends camera images via UDP
• udp_client x.x.x.x: displays UDP camera images from server

ToDo

• Remoded apriltag calibration, moved to moms_apriltag library
• Add pointcloud from stereo
• Add parameters for known cameras
• Add Jupyter notebook documentation and examples
• Simplify stereo camera
• Add computeReprojectionErrors and visualizeReprojErrors
• Add visualizeDistortion
• Add visualizeExtrinsics
• Remove attrs, replaced with python's dataclass
• Add save/load from yaml
• Add stereo calibration pytest

Change Log

MIT License

Copyright (c) 2014 Kevin J. Walchko

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.