Reverted back to PythonCall in hopes for it to work all the time and not

just sporadically.
yakir12 · Dec 23, 2024 · 5c0db73 · 5c0db73
1 parent 6e4af36
commit 5c0db73
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Showing 9 changed files with 156 additions and 2,389 deletions.
diff --git a/CondaPkg.toml b/CondaPkg.toml
@@ -0,0 +1,5 @@
+channels = ["conda-forge"]
+
+[deps]
+opencv = ""
+numpy = ""
diff --git a/Project.toml b/Project.toml
@@ -1,19 +1,20 @@
 name = "CameraCalibrations"
 uuid = "70c3cbac-2c23-4b2d-966c-5a25c0a540fb"
 authors = ["Yakir <[email protected]> and contributors"]
-version = "0.7.3"
+version = "0.6.0"
 
 [deps]
+CondaPkg = "992eb4ea-22a4-4c89-a5bb-47a3300528ab"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
-ImageBase = "c817782e-172a-44cc-b673-b171935fbb9e"
 ImageDraw = "4381153b-2b60-58ae-a1ba-fd683676385f"
+ImageBase = "c817782e-172a-44cc-b673-b171935fbb9e"
 ImageIO = "82e4d734-157c-48bb-816b-45c225c6df19"
 ImageTransformations = "02fcd773-0e25-5acc-982a-7f6622650795"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-OpenCV = "f878e3a2-a245-4720-8660-60795d644f2a"
 Polynomials = "f27b6e38-b328-58d1-80ce-0feddd5e7a45"
+PythonCall = "6099a3de-0909-46bc-b1f4-468b9a2dfc0d"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
@@ -23,6 +24,7 @@ StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 [compat]
 Aqua = "0.8"
 ColorTypes = "0.12.0"
+CondaPkg = "0.2"
 CoordinateTransformations = "0.6"
 FileIO = "1"
 ImageBase = "0.1.7"
@@ -31,9 +33,9 @@ ImageIO = "0.6"
 ImageTransformations = "0.9, 0.10"
 JSON3 = "1.14.1"
 LinearAlgebra = "1"
-OpenCV = "4.6.1"
 PaddedViews = "0.5.12"
 Polynomials = "3, 4"
+PythonCall = "0.9"
 Random = "1.10"
 Rotations = "1"
 StaticArrays = "1"
@@ -46,11 +48,12 @@ julia = "1.10"
 Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
 ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
 FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
+ImageTransformations = "02fcd773-0e25-5acc-982a-7f6622650795"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 PaddedViews = "5432bcbf-9aad-5242-b902-cca2824c8663"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Aqua", "ColorTypes", "FileIO", "JSON3", "LinearAlgebra", "PaddedViews", "StaticArrays", "Test"]
+test = ["Aqua", "ColorTypes", "FileIO", "ImageTransformations", "JSON3", "LinearAlgebra", "PaddedViews", "StaticArrays", "Test"]
diff --git a/src/CameraCalibrations.jl b/src/CameraCalibrations.jl
@@ -2,19 +2,28 @@ module CameraCalibrations
 
 using LinearAlgebra, Statistics, Random
 import ImageIO, FileIO
-using OpenCV, ImageBase, StaticArrays, ImageDraw, ImageTransformations
+using PythonCall, ImageBase, StaticArrays, ImageDraw, ImageTransformations
 using Rotations, CoordinateTransformations, Polynomials
 
 using JSON3, StructTypes
 
+export fit, Calibration, CalibrationIO, rectification, RowCol, XYZ
+
 include("meta.jl")
 include("io.jl")
 include("detect_fit.jl")
 include("buildcalibrations.jl")
 include("plot_calibration.jl")
 
-const CRITERIA = OpenCV.TermCriteria(OpenCV.TERM_CRITERIA_EPS + OpenCV.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+# using CondaPkg
+# CondaPkg.add.(["numpy", "opencv"])
+
+const cv2 = PythonCall.pynew()
+const np = PythonCall.pynew()
 
-export fit, Calibration, RowCol, XYZ, rectification
+function __init__()
+    PythonCall.pycopy!(cv2, pyimport("cv2"))
+    PythonCall.pycopy!(np, pyimport("numpy"))
+end
 
 end
diff --git a/src/detect_fit.jl b/src/detect_fit.jl
@@ -1,57 +1,69 @@
+# the following convertion functions are necessary due to some overly eager type checking in the python functions.
+convert_from_py_corners(py_corners, n_corners) = reshape(RowCol.(eachslice(PyArray(py_corners); dims = 1)), n_corners)
+
+convert_to_py_objpoints(objpoints, n) = PyList(fill(np.array(Float32.(reshape(reduce((x1, x2) -> hcat(x1, Vector(x2)), objpoints)', (1, length(objpoints), 3)))), n))
+
+convert_to_py_imgpointss(imgpointss) = PyList([np.array(reshape(reduce((x1, x2) -> hcat(x1, Vector(x2)), imgpoints)', 1, length(imgpoints), 2)) for imgpoints in imgpointss])
+
+"""
+    get_object_points
+Produce the real-world locations of the corners of the checkerboard.
+"""
+function get_object_points(n_corners)
+    objpoints = Matrix{XYZ}(undef, n_corners)
+    for i in CartesianIndices(n_corners)
+        x, y = Tuple(i) .- 1
+        objpoints[i] = XYZ(x, y, 0)
+    end
+    return objpoints
+end
+
 """
     _detect_corners
 Wraps OpenCV function to auto-detect corners in an image.
 """
-function _detect_corners(file, n_corners, sz)
-    img = FileIO.load(file)
-    gry = reshape(rawview(channelview(Gray.(img))), 1, sz...)
-    cv_n_corners = OpenCV.Size{Int32}(n_corners...)
-    _cv_corners = OpenCV.Mat(Array{Float32}(undef, 2, 1, prod(n_corners)))
-    ret, cv_corners = OpenCV.findChessboardCorners(gry, cv_n_corners, _cv_corners, 
-                                                     OpenCV.CALIB_CB_ADAPTIVE_THRESH +
-                                                     OpenCV.CALIB_CB_FAST_CHECK +
-                                                     OpenCV.CALIB_CB_EXHAUSTIVE + # Run an exhaustive search to improve detection rate.
-                                                     OpenCV.CALIB_CB_ACCURACY # Up sample input image to improve sub-pixel accuracy due to aliasing effects.
-                                                    )
-    !ret && return missing
-    # corners = reshape(RowCol.(eachslice(cv_corners, dims = 3)), n_corners)
-    ref_corners = OpenCV.cornerSubPix(gry, cv_corners, OpenCV.Size{Int32}(11,11), OpenCV.Size{Int32}(-1,-1), CRITERIA)
-    corners = reshape(RowCol.(eachslice(ref_corners, dims = 3)), n_corners)
-    return (file, corners)
+function _detect_corners(file, n_corners)
+    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+
+    img = cv2.imread(file)
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+    ret, py_corners = cv2.findChessboardCorners(gray, n_corners, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_NORMALIZE_IMAGE + cv2.CALIB_CB_FAST_CHECK)
+
+    !Bool(ret) && return missing
+
+    ref_corners = cv2.cornerSubPix(gray, py_corners, (11,11),(-1,-1), criteria)
+    flp_corners = np.flip(ref_corners, axis = 2)
+    corners = convert_from_py_corners(flp_corners, n_corners)
+    return (file, reverse(corners, dims = 1))
+end
+
+function detect_corners(_files, n_corners)
+    fi = skipmissing(_detect_corners.(_files, Ref(n_corners)))
+    return (; files = first.(fi), imgpointss = last.(fi))
 end
 
 """
     fit_model
 Wraps OpenCV function to fit a camera model to given object and image points.
 """
 function fit_model(sz, objpoints, imgpointss, n_corners,  with_distortion, aspect)
-    nfiles = length(imgpointss)
-
-    objectPoints = OpenCV.InputArray[Float32.(reshape(stack(objpoints), 3, 1, :)) for _ in 1:nfiles]
-    imagePoints = OpenCV.InputArray[Float32.(reshape(stack(imgpoints), 2, 1, :)) for imgpoints in imgpointss]
-    imageSize = OpenCV.Size{Int32}(sz...)
+    flags = cv2.CALIB_ZERO_TANGENT_DIST + cv2.CALIB_FIX_K3 + cv2.CALIB_FIX_K2 + (with_distortion ? 0 : cv2.CALIB_FIX_K1) + cv2.CALIB_FIX_ASPECT_RATIO
 
-    cammat = convert(Matrix{Float32}, I(3))
-    cammat[1,:] .= aspect
-    cameraMatrix = OpenCV.Mat(Float32.(reshape(cammat, 1, 3, 3)))
-    # distCoeffs = OpenCV.Mat(Array{Float32}(undef, 1, 1, 5))
-    distCoeffs = OpenCV.Mat(zeros(Float32, 1, 1, 5))
+    cammatrix = convert(Matrix{Float32}, I(3))
+    cammatrix[1] = aspect
 
-    flags = OpenCV.CALIB_ZERO_TANGENT_DIST + OpenCV.CALIB_FIX_K3 + OpenCV.CALIB_FIX_K2 + (with_distortion ? 0 : OpenCV.CALIB_FIX_K1) + OpenCV.CALIB_FIX_ASPECT_RATIO
+    cammatrix = np.ascontiguousarray(np.array(cammatrix)) # https://stackoverflow.com/a/50128836/2261957
 
-    # r = OpenCV.InputArray[Array{Float32}(undef, 3, 1, prod(n_corners)) for _ in 1:nfiles]
-    r = OpenCV.InputArray[zeros(Float32, 3, 1, prod(n_corners)) for _ in 1:nfiles]
-    # t = OpenCV.InputArray[Array{Float32}(undef, 3, 1, prod(n_corners)) for _ in 1:nfiles]
-    t = OpenCV.InputArray[zeros(Float32, 3, 1, prod(n_corners)) for _ in 1:nfiles]
+    _, py_mtx, py_dist, py_rvecs, py_tvecs = cv2.calibrateCamera(convert_to_py_objpoints(objpoints, length(imgpointss)), convert_to_py_imgpointss(imgpointss), np.flip(sz), cammatrix, nothing; flags)
 
-    x, mtx, dist, rvecs, tvecs = OpenCV.calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, r, t, flags, CRITERIA)
+    k, _ = PyArray(py_dist)
+    @assert with_distortion || k == 0 "distortion was $with_distortion but k isn't zero:" k
 
-    k, _ = dist
+    Rs = [vec(pyconvert(Matrix{Float64}, x)) for x in py_rvecs]
 
-    Rs = vec.(rvecs)
-    ts = vec.(tvecs)
+    ts = [vec(pyconvert(Matrix{Float64}, x)) for x in py_tvecs]
 
-    mtx = reshape(mtx, 3, 3)'
+    mtx = Matrix(PyArray(py_mtx))
     frow = mtx[1,1]
     fcol = mtx[2,2]
     crow = mtx[1,3]
@@ -61,12 +73,15 @@ function fit_model(sz, objpoints, imgpointss, n_corners,  with_distortion, aspec
 end
 
 function detect_fit(_files, n_corners, with_distortion, aspect)
-    sz = size(FileIO.load(first(_files)))
-    fi = skipmissing(_detect_corners.(_files, Ref(n_corners), Ref(sz)))
-    @assert !isempty(fi) "No checkers were detected in any of the images, perhaps try a different `n_corners`."
-    files = first.(fi)
-    imgpointss = last.(fi)
-    objpoints = XYZ.(Tuple.(CartesianIndices((0:(n_corners[1] - 1), 0:(n_corners[2] - 1), 0:0))))
+    files, imgpointss = detect_corners(_files, n_corners)
+
+    objpoints = get_object_points(n_corners)
+    sz = size(FileIO.load(files[1]))
+
     k, Rs, ts, frow, fcol, crow, ccol = fit_model(sz, objpoints, imgpointss, n_corners, with_distortion, aspect)
+
     return (; files, objpoints, imgpointss, sz, k, Rs, ts, frow, fcol, crow, ccol)
 end
+
+
+
diff --git a/test/example/corners.json b/test/example/corners.json
@@ -1 +1 @@
-{"2.png":[[99,119],[143,121],[186,122],[229,124],[270,126],[99,163],[143,165],[186,166],[228,168],[269,169],[99,207],[143,208],[185,209],[227,210],[268,211],[99,250],[143,251],[185,251],[226,252],[267,252],[98,293],[142,293],[184,293],[225,293],[266,293],[98,336],[141,335],[183,334],[224,334],[265,334],[97,378],[140,377],[183,376],[224,376],[264,375],[97,420],[140,419],[182,418],[223,416],[263,415]],"6.png":[[112,177],[136,179],[159,180],[181,181],[202,182],[112,201],[136,202],[159,203],[181,204],[203,205],[113,225],[137,226],[160,226],[182,227],[203,227],[113,249],[137,249],[160,249],[182,249],[203,249],[113,273],[137,273],[160,272],[182,272],[204,271],[114,297],[138,296],[161,295],[183,294],[204,293],[114,322],[138,320],[161,319],[183,317],[205,316],[114,346],[138,344],[161,342],[184,340],[205,339]],"3.png":[[85,161],[119,163],[152,164],[183,166],[213,167],[86,179],[122,181],[157,182],[189,183],[221,184],[87,200],[126,201],[162,202],[197,203],[230,203],[88,223],[129,224],[168,224],[205,224],[240,224],[89,250],[134,250],[175,250],[214,249],[251,249],[91,282],[139,280],[183,279],[225,278],[265,276],[92,320],[144,316],[192,314],[237,311],[280,309],[93,365],[151,360],[203,355],[253,351],[299,348]],"1.png":[[86,197],[141,195],[194,194],[246,192],[298,190],[93,243],[144,241],[193,239],[241,236],[290,234],[99,283],[146,280],[192,277],[238,275],[283,273],[104,317],[148,314],[192,311],[234,309],[277,307],[108,348],[150,345],[191,342],[231,340],[271,338],[112,376],[152,373],[191,370],[229,367],[267,365],[115,400],[153,397],[190,394],[226,392],[262,389],[119,422],[154,419],[190,416],[224,414],[258,411]],"5.png":[[61,109],[93,101],[128,92],[167,83],[212,72],[63,151],[95,146],[130,140],[169,133],[213,126],[66,193],[97,190],[133,187],[171,184],[215,179],[68,235],[100,234],[135,233],[173,232],[216,231],[71,275],[102,276],[137,278],[175,279],[218,281],[73,315],[104,318],[139,322],[177,326],[220,330],[75,355],[106,360],[141,366],[179,372],[221,380],[78,394],[108,401],[143,409],[181,418],[223,428]],"4.png":[[106,90],[141,102],[171,113],[198,122],[221,130],[106,135],[142,144],[172,152],[198,159],[221,165],[107,181],[143,187],[173,192],[199,196],[222,200],[108,227],[144,229],[174,231],[200,232],[222,234],[109,272],[144,271],[174,270],[200,269],[223,268],[109,318],[145,313],[175,309],[201,305],[224,302],[109,365],[145,356],[175,348],[202,342],[225,336],[110,411],[146,399],[176,389],[202,379],[225,372]]}
+{"2.png":[[263.18216,415.31693],[222.93118,416.49454],[181.82751,417.67328],[140.01404,418.76404],[97.37207,419.78665],[264.3202,375.35947],[223.69255,375.78485],[182.53548,376.49304],[140.428,377.42496],[97.398506,378.3202],[265.06757,334.38934],[224.35864,334.32297],[183.21829,334.4877],[141.21309,335.06955],[97.73969,335.8214],[265.71442,293.3704],[224.86827,292.9574],[183.86363,292.75208],[141.94615,292.80072],[98.49167,293.08423],[266.52853,252.29192],[225.67264,251.7298],[184.54213,251.30998],[142.50674,250.73573],[98.81908,250.27014],[267.80743,210.75446],[226.5611,210.18546],[185.24628,209.39569],[142.76242,208.31534],[98.848656,206.93794],[269.19818,168.52621],[227.73825,167.5486],[185.80865,166.38515],[142.85547,164.67586],[98.78267,162.90886],[270.367,125.905975],[228.74477,124.23451],[186.46698,122.41155],[143.28162,120.50214],[99.135445,118.67451]],"6.png":[[205.1374,338.7553],[183.50075,340.3901],[161.20695,342.18256],[137.93665,344.07538],[113.66636,346.13974],[204.64433,315.9385],[183.20177,317.2081],[160.94232,318.50116],[137.79437,319.92603],[113.66841,321.53873],[204.21393,293.48245],[182.77318,294.34222],[160.64436,295.1879],[137.6513,296.23132],[113.58201,297.30646],[203.78062,271.24112],[182.49759,271.59387],[160.42705,272.15204],[137.47346,272.61227],[113.47126,273.26758],[203.47084,249.04837],[182.21783,249.14967],[160.13246,249.22328],[137.22206,249.27446],[113.23081,249.31792],[203.15816,226.85248],[181.74883,226.58026],[159.71736,226.30402],[136.78018,225.7971],[112.76668,225.38472],[202.70686,204.63266],[181.44064,204.03471],[159.40121,203.30002],[136.3704,202.38806],[112.39394,201.39375],[202.43837,182.36055],[181.11613,181.31291],[158.86263,180.12228],[135.83168,178.72948],[111.77687,177.34703]],"3.png":[[299.15402,347.75366],[252.70624,351.49863],[203.43675,355.3683],[150.6566,360.01315],[93.47113,365.1607],[280.4798,309.10272],[237.32909,311.15698],[192.24583,313.51416],[144.1358,316.3689],[91.82277,319.6175],[264.55145,276.3868],[224.55254,277.5483],[182.84058,278.8685],[138.55806,280.40747],[90.540955,282.01904],[251.17128,248.51814],[213.902,249.18242],[175.06148,249.51427],[133.68584,249.96053],[89.2959,250.35948],[239.60036,224.46333],[204.64624,224.46748],[168.23434,224.25208],[129.4866,223.69078],[88.00073,223.31033],[229.5496,203.2498],[196.54051,202.67274],[162.1461,201.94096],[125.63078,200.79773],[86.851036,199.56558],[220.67259,184.37373],[189.39381,183.42145],[156.68655,182.18793],[122.2751,180.5192],[85.79754,178.82803],[212.7082,167.38385],[182.95573,166.10435],[151.83192,164.40715],[119.28999,162.52534],[85.03209,160.61536]],"1.png":[[258.19308,410.6701],[224.21643,413.52533],[189.52975,416.45392],[154.45471,419.35205],[118.751785,422.2567],[262.28873,388.9599],[226.40807,391.62018],[190.02585,394.44928],[153.01097,397.44476],[115.46515,400.40863],[266.58188,364.6367],[228.761,367.13306],[190.51605,369.72098],[151.5804,372.7239],[111.71821,375.9016],[271.37625,337.50485],[231.38153,339.6239],[191.16032,342.189],[150.0261,345.12607],[107.889114,348.35907],[276.54138,307.0877],[234.25636,309.15213],[191.64252,311.49857],[148.41096,314.30542],[103.52165,317.362],[282.56787,272.9135],[237.52971,274.9331],[192.45366,277.32013],[146.43877,279.8038],[98.66458,282.57462],[289.6469,234.26715],[241.47043,236.38443],[193.31143,238.5409],[144.13129,240.70642],[92.735115,242.95776],[298.02255,189.57112],[246.36998,191.65927],[194.32751,193.75522],[141.13118,195.47801],[85.6814,196.92738]],"5.png":[[222.92903,428.0741],[180.524,418.14813],[142.56943,409.30167],[108.49659,401.2517],[77.66134,393.95355],[221.38434,379.97888],[178.65211,372.46667],[140.63782,365.94193],[106.357666,360.36377],[75.28938,355.15347],[219.50801,330.42737],[176.94487,325.63705],[138.8906,321.78653],[104.45778,318.48126],[73.07517,315.48795],[217.6895,280.70447],[175.21082,279.0187],[137.13873,277.55502],[102.49359,276.44534],[70.82157,275.35394],[216.23053,230.64198],[173.34407,231.9026],[134.998,233.01358],[100.174995,233.78107],[68.402176,234.61082],[214.74593,179.09714],[171.38005,183.51566],[132.5897,187.22311],[97.48024,190.37315],[65.67558,193.29755],[213.43802,125.577805],[169.33946,133.3386],[130.02704,139.97592],[94.750946,145.79755],[63.26309,151.27016],[211.727,71.84391],[167.37796,82.71496],[127.76215,92.38475],[92.52531,100.978294],[60.797474,108.67862]],"4.png":[[225.3423,371.51007],[202.30902,379.46854],[175.96132,388.6032],[145.57164,399.19708],[110.24223,411.23743],[224.53914,336.4252],[201.56935,341.8711],[175.41623,348.34198],[145.09813,355.95657],[109.497894,364.97342],[223.70544,301.69366],[200.76765,304.83615],[174.77408,308.57504],[144.6994,313.0564],[109.254906,318.3582],[223.09134,267.58868],[200.26772,268.53745],[174.311,269.5642],[144.31773,270.81934],[108.79843,272.42438],[222.48608,233.659],[199.59637,232.44116],[173.62344,230.89288],[143.5836,229.1122],[108.20664,226.78975],[221.90434,199.60367],[199.00636,196.16911],[172.8986,191.96538],[142.69672,187.03201],[107.1853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		@@ -1 +1 @@
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