Add configuration for calibration

Author: thrau

cpopservice/capture_loop.py

@@ -29,7 +29,7 @@ def run_capture_loop(capture, object_detector: ObjectDetector, result_queue):
                 'Timestamp': timestamp,
                 'Type': label,
                 'Position': {'X': float(position[0]), 'Y': float(position[1]), 'Z': float(position[2])},
-                'Shape': [{'X': width, 'Y': height, 'Z': 0.0}]
+                'Shape': [{'X': width, 'Y': 0.0, 'Z': height}]
             }
 
             LOG.debug('queueing message %s', message)

cpopservice/config.py

@@ -9,6 +9,7 @@
 BROKER_STARTUP = os.environ.get('BROKER_STARTUP') not in ['false', '0', False]
 
 # camera device
+CALIBRATE_FRAME = 'data/calib-and-test/frame_1920x1080.jpg'
 CAMERA_WIDTH = 1024
 CAMERA_HEIGHT = 576
 

cpopservice/server.py

@@ -65,11 +65,17 @@ def get_object_detector() -> ObjectDetector:
     object_detector = ObjectDetector()
 
     LOG.info('initializing camera parameters')
-    frame = capture_from_vid(source=0, width=1920, height=1080)
-    # frame = cv2.imread('data/calib-and-test/frame_1920x1080.jpg')
+    if config.CALIBRATE_FRAME and os.path.isfile(config.CALIBRATE_FRAME):
+        LOG.info('using existing frame for calibration %s', config.CALIBRATE_FRAME)
+        frame = cv2.imread(config.CALIBRATE_FRAME)
+    else:
+        LOG.info('capturing frame from source')
+        frame = capture_from_vid(source=0, width=1920, height=1080)
 
     object_detector.init_camera_parameters(frame, viz=False)
 
+    LOG.info('camera parameters (rvec: %s, tvec: %s)', object_detector.rvec, object_detector.tvec)
+
     return object_detector