Added python version

EyeTab_Python/anatomical_constants.py

@@ -0,0 +1,2 @@
+limbus_r_mm = 6
+eye_r_mm = 11

EyeTab_Python/calibrate_camera.py

@@ -0,0 +1,79 @@
+import cv2, numpy as np, os
+
+board_w, board_h = 6, 9
+board_size = (board_w, board_h)
+
+img_w, img_h = 720, 1280
+img_size = (img_w, img_h)
+square_mm = 21
+
+def get_obect_img_pts(board_img, debug=False):
+    
+    board_img_grey = cv2.cvtColor(board_img, cv2.COLOR_BGR2GRAY)
+    
+    # Find chessboard corners
+    found, corners = cv2.findChessboardCorners(
+      image=board_img_grey,
+      patternSize=board_size,
+      flags=cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_FILTER_QUADS | cv2.CALIB_CB_FAST_CHECK)
+    
+    # Refine corner locations
+    cv2.cornerSubPix(
+      image=board_img_grey,
+      corners=corners,
+      winSize=(11, 11),
+      zeroZone=(-1, -1),
+      criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 30, 0.1))
+    
+    if debug:
+        chessboard_debug_img = np.copy(board_img)
+        chessboard_debug_img = cv2.cvtColor(chessboard_debug_img,cv2.COLOR_BGR2GRAY)
+        chessboard_debug_img = cv2.cvtColor(chessboard_debug_img,cv2.COLOR_GRAY2BGR)
+        cv2.drawChessboardCorners(chessboard_debug_img, board_size, corners, found)
+        cv2.imshow("board", chessboard_debug_img)
+        cv2.waitKey()
+    
+    # Correctly arrange arrays of corresponding points
+    object_pts = np.zeros((np.prod(board_size), 3), np.float32)
+    object_pts[:, :2] = np.indices(board_size).T.reshape(-1, 2) * square_mm
+    image_pts = corners.reshape(-1, 2)
+    
+    return object_pts, image_pts
+
+
+def get_intrinsic_camera_params(object_pts, image_pts, debug=False):
+    
+    _, cam_mat, dist_coefs, _, _ = cv2.calibrateCamera(
+       objectPoints=object_pts,
+       imagePoints=image_pts,
+       imageSize=img_size)
+    
+    if debug:
+        print dist_coefs
+        print cam_mat
+        print 'fx = {}, fy = {}'.format(cam_mat[0][0], cam_mat[1][1])
+        print 'cx = {}, cy = {}'.format(cam_mat[0][2], cam_mat[1][2])
+    
+    return cam_mat, dist_coefs
+
+
+#----------------------------------------
+# FIND INTRINSIC CAMERA PARAMETERS 
+#----------------------------------------
+if __name__ == '__main__':
+
+    calibration_imgs_path = 'camera_calibration'
+    calibration_imgs = map(lambda x: cv2.imread(os.path.join(calibration_imgs_path, x)),
+                            os.listdir(calibration_imgs_path))
+    
+    all_object_pts, all_img_pts = [], []
+    for img in calibration_imgs:
+        object_pts, image_pts = get_obect_img_pts(img, debug=True)
+        all_object_pts.append(object_pts)
+        all_img_pts.append(image_pts)
+        
+    cam_mat, dist_coefs = get_intrinsic_camera_params(all_object_pts, all_img_pts, True)
+    
+    params_file = open('camera_matrix_N7.txt', 'w')
+    params_file.write('fx = {}\nfy = {}\ncx = {}\ncy = {}'.format(cam_mat[0][0], cam_mat[1][1], cam_mat[0][2], cam_mat[1][2]))
+    params_file.close()