diff --git a/README.md b/README.md
index d0ec92e..3db2e64 100644
--- a/README.md
+++ b/README.md
@@ -84,15 +84,15 @@ To setup and use Zivid in one of these operating systems, please follow
their respective instructions in the following pages:
- [Install Zivid + HALCON for
- Windows](https://support.zivid.com/latest/rst/api-reference/samples/halcon/install-zivid-halcon-for-windows.html)
+ Windows](https://support.zivid.com/latest/api-reference/samples/halcon/install-zivid-halcon-for-windows.html)
- [Install Zivid + HALCON for
- LINUX](https://support.zivid.com/latest/rst/api-reference/samples/halcon/install-zivid-halcon-for-linux.html)
+ LINUX](https://support.zivid.com/latest/api-reference/samples/halcon/install-zivid-halcon-for-linux.html)
- [Create a HALCON "Hello World"
- Program](https://support.zivid.com/latest/rst/api-reference/samples/halcon/create-a-halcon-hello-world.html)
+ Program](https://support.zivid.com/latest/api-reference/samples/halcon/create-a-halcon-hello-world.html)
- [How to Run a HALCON
- Sample](https://support.zivid.com/latest/rst/api-reference/samples/halcon/how-to-run-a-halcon-sample.html)
+ Sample](https://support.zivid.com/latest/api-reference/samples/halcon/how-to-run-a-halcon-sample.html)
- [HALCON Sample
- Videos](https://support.zivid.com/latest/rst/api-reference/samples/halcon/halcon-sample-videos.html)
+ Videos](https://support.zivid.com/latest/api-reference/samples/halcon/halcon-sample-videos.html)
The following HALCON versions have been tested and confirmed to work
with Zivid cameras:
@@ -106,7 +106,7 @@ We recommend to use one of the HALCON versions we have tested.
For more information about the Zivid cameras, please visit our
[Knowledge Base](https://support.zivid.com/latest). If you run into any
issues please check out
-[Troubleshooting](https://support.zivid.com/latest/rst/support/troubleshooting.html).
+[Troubleshooting](https://support.zivid.com/latest/support/troubleshooting.html).
## License
diff --git a/source/SampleUtils/convert_intrinsics_opencv_to_halcon.py b/source/SampleUtils/convert_intrinsics_opencv_to_halcon.py
index d816626..1065f27 100644
--- a/source/SampleUtils/convert_intrinsics_opencv_to_halcon.py
+++ b/source/SampleUtils/convert_intrinsics_opencv_to_halcon.py
@@ -1,8 +1,12 @@
"""
-Read Zivid camera intrinsic parameters (OpenCV model) from .yml file, convert them to
-internal camera parameters (Halcon model), and save them to .dat file.
+Read Zivid camera intrinsic parameters (OpenCV model) from .yml file or camera,
+convert them to internal camera parameters (Halcon model), and save them to .dat file.
-Example: python convert_intrinsics_opencv_to_halcon.py --input-file IntrinsicsOpenCV.yml
+Example when reading from file: python convert_intrinsics_opencv_to_halcon.py
+ --input-file IntrinsicsOpenCV.yml --model-name "zivid two"
+ --output-file "IntrinsicsHalcon"
+
+Example when reading from camera: python convert_intrinsics_opencv_to_halcon.py
--model-name "zivid two" --output-file "IntrinsicsHalcon"
The .dat file can be read with read_cam_par HALCON operator which creates a camera parameter
@@ -20,8 +24,8 @@
import cv2
import numpy as np
+import numpy.typing as npt
import yaml
-from numpy.typing import NDArray
from scipy.optimize import minimize
@@ -37,19 +41,41 @@ class CameraIntrinsics:
p1: float
p2: float
- def __init__(self, filepath: Path):
+ @classmethod
+ def from_file(cls, filepath: Path):
data = yaml.safe_load(filepath.read_text(encoding="utf-8"))
- self.cx = data["CameraIntrinsics"]["CameraMatrix"]["CX"]
- self.cy = data["CameraIntrinsics"]["CameraMatrix"]["CY"]
- self.fx = data["CameraIntrinsics"]["CameraMatrix"]["FX"]
- self.fy = data["CameraIntrinsics"]["CameraMatrix"]["FY"]
- self.k1 = data["CameraIntrinsics"]["Distortion"]["K1"]
- self.k2 = data["CameraIntrinsics"]["Distortion"]["K2"]
- self.k3 = data["CameraIntrinsics"]["Distortion"]["K3"]
- self.p1 = data["CameraIntrinsics"]["Distortion"]["P1"]
- self.p2 = data["CameraIntrinsics"]["Distortion"]["P2"]
-
- def _camera_matrix(self) -> NDArray[np.float64]:
+ cx = data["CameraIntrinsics"]["CameraMatrix"]["CX"]
+ cy = data["CameraIntrinsics"]["CameraMatrix"]["CY"]
+ fx = data["CameraIntrinsics"]["CameraMatrix"]["FX"]
+ fy = data["CameraIntrinsics"]["CameraMatrix"]["FY"]
+ k1 = data["CameraIntrinsics"]["Distortion"]["K1"]
+ k2 = data["CameraIntrinsics"]["Distortion"]["K2"]
+ k3 = data["CameraIntrinsics"]["Distortion"]["K3"]
+ p1 = data["CameraIntrinsics"]["Distortion"]["P1"]
+ p2 = data["CameraIntrinsics"]["Distortion"]["P2"]
+ return cls(cx, cy, fx, fy, k1, k2, k3, p1, p2)
+
+ @classmethod
+ def from_camera(cls):
+ # pylint: disable=import-outside-toplevel
+ import zivid
+ from zivid.experimental import calibration
+
+ app = zivid.Application()
+ camera = app.connect_camera()
+ intrinsics = calibration.intrinsics(camera)
+ cx = intrinsics.camera_matrix.cx
+ cy = intrinsics.camera_matrix.cy
+ fx = intrinsics.camera_matrix.fx
+ fy = intrinsics.camera_matrix.fy
+ k1 = intrinsics.distortion.k1
+ k2 = intrinsics.distortion.k2
+ k3 = intrinsics.distortion.k3
+ p1 = intrinsics.distortion.p1
+ p2 = intrinsics.distortion.p2
+ return cls(cx, cy, fx, fy, k1, k2, k3, p1, p2)
+
+ def _camera_matrix(self) -> npt.NDArray[np.float64]:
K = np.eye(3)
K[0, 0] = self.fx
K[1, 1] = self.fy
@@ -57,10 +83,10 @@ def _camera_matrix(self) -> NDArray[np.float64]:
K[1, 2] = self.cy
return K
- def _distortion_coefficients(self) -> NDArray[np.float64]:
+ def _distortion_coefficients(self) -> npt.NDArray[np.float64]:
return np.array([self.k1, self.k2, self.p1, self.p2, self.k3])
- def undistorted_pixels(self, pixels: NDArray) -> NDArray[np.float64]:
+ def undistorted_pixels(self, pixels: npt.NDArray) -> npt.NDArray[np.float64]:
undistorted_normalized = cv2.undistortPoints(
pixels,
cameraMatrix=self._camera_matrix(),
@@ -76,14 +102,14 @@ class HalconInternalCameraParameters:
sx: float
sy: float
focus: float
- poly: NDArray
- image_size: NDArray
+ poly: npt.NDArray
+ image_size: npt.NDArray
def __init__(
self,
intrinsics: CameraIntrinsics,
- pixel_size: NDArray[np.float64],
- image_size: NDArray[np.int32],
+ pixel_size: npt.NDArray[np.float64],
+ image_size: npt.NDArray[np.int32],
):
self.cx = intrinsics.cx
self.cy = intrinsics.cy
@@ -93,7 +119,7 @@ def __init__(
self.poly = np.zeros((5))
self.image_size = image_size
- def undistorted_pixels(self, pixels: NDArray) -> NDArray:
+ def undistorted_pixels(self, pixels: npt.NDArray) -> npt.NDArray:
x = (pixels[:, :, 0] - self.cx) * self.sx
y = (pixels[:, :, 1] - self.cy) * self.sy
@@ -190,8 +216,8 @@ def write_to_dat_file(self, filepath: Path) -> None:
@dataclass
class CameraParameters:
- pixel_size: NDArray[np.float64]
- image_size: NDArray[np.int32]
+ pixel_size: npt.NDArray[np.float64]
+ image_size: npt.NDArray[np.int32]
def __init__(self, model_name: str):
if model_name in [
@@ -208,10 +234,10 @@ def __init__(self, model_name: str):
def _cost_function(
- poly: NDArray,
+ poly: npt.NDArray,
halcon_parameters: HalconInternalCameraParameters,
intrinsics: CameraIntrinsics,
- pixels: NDArray,
+ pixels: npt.NDArray,
) -> float:
halcon_parameters.poly = poly
halcon_pixels_undistorted = halcon_parameters.undistorted_pixels(pixels=pixels)
@@ -221,7 +247,7 @@ def _cost_function(
def _create_pixels(
camera_parameters: CameraParameters,
-) -> NDArray:
+) -> npt.NDArray:
samples_x = 25
x = np.linspace(0, camera_parameters.image_size[0] - 1, samples_x)
y = np.linspace(
@@ -234,12 +260,12 @@ def _create_pixels(
def _estimate_halcon_internal_camera_parameters_from_opencv(
- zivid_yaml_path: Path, model_name: str
+ intrinsics: CameraIntrinsics, model_name: str
) -> HalconInternalCameraParameters:
"""Estimate internal camera parameters (Halcon model) from intrinsic parameters (OpenCV model).
Args:
- zivid_yaml_path: Path to Zivid camera intrinsic parameters (OpenCV model) .yml file
+ intrinsics: Zivid camera intrinsic parameters (OpenCV model)
model_name: Zivid camera model
Returns:
@@ -247,7 +273,6 @@ def _estimate_halcon_internal_camera_parameters_from_opencv(
"""
- intrinsics = CameraIntrinsics(filepath=zivid_yaml_path)
camera_parameters = CameraParameters(model_name=model_name)
halcon_parameters = HalconInternalCameraParameters(
intrinsics=intrinsics,
@@ -271,8 +296,10 @@ def _args() -> argparse.Namespace:
parser.add_argument(
"--input-file",
type=Path,
- required=True,
- help="Path to Zivid camera intrinsic parameters (openCV model) as .yml file",
+ help=(
+ "Path to Zivid camera intrinsic parameters (openCV model) as .yml file. "
+ "Don't use argument to read intrinsics from connected camera (requires zivid-python)."
+ ),
)
parser.add_argument(
"--model-name",
@@ -287,13 +314,22 @@ def _args() -> argparse.Namespace:
required=True,
help="Path to .dat file to save HALCON internal camera parameters",
)
+
return parser.parse_args()
def _main():
args = _args()
+
+ if args.input_file:
+ print(f"Reading intrinsics from file '{args.input_file}'")
+ intrinsics = CameraIntrinsics.from_file(args.input_file)
+ else:
+ print("Reading intrinsics from camera")
+ intrinsics = CameraIntrinsics.from_camera()
+
halcon_internal_camera_parameters = _estimate_halcon_internal_camera_parameters_from_opencv(
- args.input_file, args.model_name
+ intrinsics, args.model_name
)
halcon_internal_camera_parameters.write_to_dat_file(args.output_file)
print(f"Halcon internal camera parameters saved to {args.output_file}")