rakali 0.0.11

Rakali（0.0.11版）

rakali是一个图像库和摄像机工具集。它提供了许多 帮助校准单声道和立体声摄影机装备的摄影机基本体，图像 处理和目标检测它还包括一些预构建的工具 帮帮忙。

Rakali利用了许多其他的图像库和框架 作为他们的教学资源。

Pia Ravenari

以澳大利亚水獭hydromys chrysogaster命名

提供的工具

rakali提供了许多工具来帮助使用mono和立体声 摄像机

rakali查找ipcameras

按供应商和服务扫描本地局域网中的IP摄像机

$ rakali-find-ipcameras cams

Usage: rakali-find-ipcameras [OPTIONS] COMMAND [ARGS]...

  Discover IP cameras on local LAN

Options:
  --version  Show the version and exit.
  --help     Show this message and exit.

Commands:
  cams     Discover local IP cameras using vendor name
  service  Scanning for video feed services

扫描摄像机，Do：^ {CD1>}，默认值是搜索轴模型。

它提供了一个已发现的nvr或类似这样的摄像机的列表：

Scanning 10.41.212.0/24 for axis cameras or NVRs
['10.41.212.135', '10.41.212.147']

Rakali视图

查看来自IP和USB摄像头的实时视频源IP摄像头和NVR 可以使用 rakali-find-ipcameras。

$ rakali-view --help

Usage: rakali-view [OPTIONS]

Options:
  --version          Show the version and exit.
  -s, --source TEXT  Video source, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default: http://axis-
                     lab/axis-cgi/mjpg/video.cgi?&camera=2]
  --help             Show this message and exit.

一个简单的单流视频播放器

Rakali查找棋盘

在视频源中查找棋盘图像以进行校准。

rakali-find-chessboards将在帧流中查找棋盘模式 并保存每个包含棋盘的帧，以便在相机期间进行批处理 校准。

$ rakali-find-chessboards --help

Usage: rakali-find-chessboards [OPTIONS]

  Test each frame in the stream for the presence of a chess-board pattern. If found, save to the output folder

Options:
  --version                     Show the version and exit.
  -s, --source TEXT             Video source, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default:
                                http://axis-lab/axis-cgi/mjpg/video.cgi?&camera=1]
  -o, --output-folder TEXT      Output folder for images containing a chessboard  [default: ~/rakali/chessboards/]
  --chessboard-rows INTEGER     Chessboard rows  [default: 9]
  --chessboard-columns INTEGER  Chessboard columns  [default: 6]
  --help                        Show this message and exit.

该过程将在目标文件夹中放置校准帧，如下所示：

$ tree ~/rakali/chessboards
/home/thys/rakali/chessboards
├── 00000.jpg
├── 00001.jpg
├── 00002.jpg
├── 00003.jpg

拉卡利发现棋盘立体声

在立体声视频源中查找棋盘图像以进行校准。它 以与rakali-find-chessboards相同的方式操作，但会生成 框架

rakali-find-chessboards-stereo --help

Usage: rakali-find-chessboards-stereo [OPTIONS]

  Find chessboard calibration images in both frames of the stereo pair

Options:
  --version                     Show the version and exit.
  -l, --left-eye TEXT           Left eye, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default:
                                http://axis-lab/axis-cgi/mjpg/video.cgi?&camera=1]
  -r, --right-eye TEXT          Right eye, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default:
                                http://axis-lab/axis-cgi/mjpg/video.cgi?&camera=2]
  -o, --output-folder TEXT      Fetch image from URL  [default: ~/rakali/stereo/chessboards/]
  --chessboard-rows INTEGER     Chessboard rows  [default: 9]
  --chessboard-columns INTEGER  Chessboard columns  [default: 6]
  --help                        Show this message and exit.

$ tree ~/rakali/stereo/chessboards
/home/thys/rakali/stereo/chessboards
├── left_00000.jpg
├── left_00001.jpg
├── left_00002.jpg
├── right_00000.jpg
├── right_00001.jpg
├── right_00002.jpg

Rakali校准针孔

用针孔镜头校准摄像机

$ rakali-calibrate-pinhole --help

Usage: rakali-calibrate-pinhole [OPTIONS]

  Calibrate pinhole camera using chessboard frames captured earlier.

Options:
  --version                     Show the version and exit.
  -i, --input-folder TEXT       Folder where chessboard images are stored  [default: ~/rakali/chessboards/]
  --image-points-file TEXT      Corner points data  [default: image_points.npz]
  --calibration-file TEXT       Camera calibration data  [default: pinhole_calibration.npz]
  --chessboard-rows INTEGER     Chessboard rows  [default: 9]
  --chessboard-columns INTEGER  Chessboard columns  [default: 6]
  --square-size FLOAT           Chessboard square size in m  [default: 0.023]
  --salt INTEGER                Seed value for random picking of calibration images from a large set  [default: 888]
  --pick-size INTEGER           Size of image set to use for calibration, picked from available set  [default: 50]
  --help                        Show this message and exit.

Rakali校准鱼眼

用棋盘校准鱼眼镜头校准摄像机 使用rakali-find-chessboards捕获的图像。

$ rakali-calibrate-fisheye --help

Usage: rakali-calibrate-fisheye [OPTIONS]

  Calibrate fish-eye camera using chessboard frames captured earlier.

Options:
  --version                     Show the version and exit.
  -i, --input-folder TEXT       Folder where chessboard images are stored  [default: ~/rakali/chessboards/]
  --image-points-file TEXT      Corner points data  [default: image_points.npz]
  --calibration-file TEXT       Camera calibration data  [default: fisheye_calibration.npz]
  --chessboard-rows INTEGER     Chessboard rows  [default: 9]
  --chessboard-columns INTEGER  Chessboard columns  [default: 6]
  --square-size FLOAT           Chessboard square size in m  [default: 0.023]
  --salt INTEGER                Seed value for random picking of calibration images from a large set  [default: 888]
  --pick-size INTEGER           Size of image set to use for calibration, picked from available set  [default: 50]
  --cid TEXT                    Calibration ID to associate a calibration file with a device  [default: fisheye]
  --help                        Show this message and exit.

正在执行$ rakali-calibrate-fisheye结果：

$ rakali-calibrate-fisheye
Loading previously computed image points from image_points.npz
Calibrating on 50 objects...
INFO:rakali.camera.fisheye:Saving fisheye calibration data to fisheye_calibration.npz
DIM=(1920, 1080)
K=np.array([[558.6421513930135, 0.0, 977.0871045041308], [0.0, 559.5579191046008, 493.7827965652395], [0.0, 0.0, 1.0]])
D=np.array([[-0.018316232894576033], [0.002931049514785237], [-0.0022823146847841804], [0.00014813140230995043]])
Calibration error: 0.8771782112164381

生成的校准文件包含k和d矩阵以及一些元数据

{"D":[[-0.018316232894576033],[0.002931049514785237],[-0.0022823146847841804],[0.00014813140230995043]],"K":[[558.6421513930135,0.0,977.0871045041308],[0.0,559.5579191046008,493.7827965652395],[0.0,0.0,1.0]],"cid":"fisheye","error":0.8771782112164381,"image_size":[1920,1080],"pick_size":50,"salt":888,"time":1553647761.7596939}

rakali校准鱼眼立体声

rakali-calibrate-fisheye-stereo使用一组固定的先前捕获的棋盘图像来校准 鱼眼立体摄像设备。计算出的参数保存在校准文件中，以便在图像中使用 整改。

$ rakali-calibrate-fisheye-stereo --help

Usage: rakali-calibrate-fisheye-stereo [OPTIONS]

  Calibrate fish-eye stereo camera rig using chessboard frames captured earlier.

Options:
  --version                       Show the version and exit.
  -i, --input-folder TEXT         Folder where chessboard images are stored  [default: ~/rakali/stereo/chessboards/]
  --left-image-points-file TEXT   Left Corner points data  [default: left_image_points.json]
  --right-image-points-file TEXT  Right Corner points data  [default: right_image_points.json]
  --calibration-file TEXT         Stereo Camera calibration data  [default: fisheye_stereo_calibration.json]
  --chessboard-rows INTEGER       Chessboard rows  [default: 9]
  --chessboard-columns INTEGER    Chessboard columns  [default: 6]
  --square-size FLOAT             Chessboard square size in m  [default: 0.023]
  --salt INTEGER                  Seed value for random picking of calibration images from a large set[default: 888]
  --pick-size INTEGER             Size of image set to use for calibration, picked from available set[default: 50]
  --cid TEXT                      Calibration ID to associate a calibration file with a device  [default: fisheye]
  --prefilter / --no-prefilter    Prefilter images  [default: True]
  --help                          Show this message and exit.

....
Image /home/thys/rakali/stereo/chessboards/left_00088.jpg OK
Image /home/thys/rakali/stereo/chessboards/left_00058.jpg OK
Image /home/thys/rakali/stereo/chessboards/right_00238.jpg OK
Image /home/thys/rakali/stereo/chessboards/left_00122.jpg OK
Loading previously computed image points from left_image_points.json
Calibrating on 50 objects...
Loading previously computed image points from right_image_points.json
Calibrating on 50 objects...
Calibrate Fisheye Stereo camera using pre-calibrated values
DIM=(1920, 1080)
left calibration
K=np.array([[552.7233750094179, 0.0, 948.2959591699556], [0.0, 554.6925141069631, 548.3575557665413], [0.0, 0.0, 1.0]])D=np.array([[-0.05136306776237411], [0.0959513318929465], [-0.09081590588179426], [0.028414418435600244]])
Calibration error: 0.5128009096414867
right calibration
K=np.array([[552.7233750094177, 0.0, 948.2959591699567], [0.0, 554.6925141069636, 548.3575557665405], [0.0, 0.0, 1.0]])D=np.array([[-0.051363067762376646], [0.09595133189294996], [-0.09081590588179408], [0.028414418435599085]])
Calibration error: 0.46991635076102695

rakali不变形针孔

来自校准的标准针孔照相机的正确视频馈送

$ rakali-undistort-pinhole --help

Usage: rakali-undistort-pinhole [OPTIONS]

  Undistort live feed from pinhole model type camera

Options:
  --version                Show the version and exit.
  -s, --source TEXT        Video source, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default:
                           http://axis-lab/axis-cgi/mjpg/video.cgi?&camera=1]
  --calibration-file TEXT  Camera calibration data  [default: pinhole_calibration.npz]
  --help                   Show this message and exit.

Rakali不受干扰鱼眼

来自校准鱼眼镜头相机的正确视频源

$ rakali-undistort-fisheye --help

Usage: rakali-undistort-fisheye [OPTIONS]

  Undistort live video feed from fish-eye lens camera

Options:
  --version                Show the version and exit.
  -s, --source TEXT        Video source, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default:
                           http://axis-lab/axis-cgi/mjpg/video.cgi?&camera=1]
  --calibration-file PATH  Camera calibration data  [default: fisheye_calibration.npz]
  -b, --balance FLOAT      Balance value 0.0 ~30% pixel loss, 1.0 no loss  [default: 1.0]
  --help                   Show this message and exit.

$ rakali-undistort-fisheye

$ rakali-undistort-fisheye -b 0.5

$ rakali-undistort-fisheye -b 0

Rakali无失真鱼眼图像

$ rakali-undistort-fisheye-image --help

Usage: rakali-undistort-fisheye-image [OPTIONS] IMAGE_PATH

  Rectify a image taken with a fish-eye lens camera using calibration parameters

Options:
  --version                Show the version and exit.
  --calibration-file PATH  Camera calibration data  [default: fisheye_calibration.json; required]
  -b, --balance FLOAT      Balance value 0.0 ~30% pixel loss, 1.0 no loss  [default: 1.0]
  -s, --scale FLOAT        Scale image  [default: 0.5]
  --help                   Show this message and exit.

$ rakali-undistort-fisheye-image ~/rakali/chessboards/00000.jpg

Rakali View立体声

从立体摄影机装备中查看实时源

$ rakali-view-stereo --help

Usage: rakali-view-stereo [OPTIONS]

Options:
  --version             Show the version and exit.
  -l, --left-eye TEXT   Left eye, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default: http://axis-
                        lab/axis-cgi/mjpg/video.cgi?&camera=1]
  -r, --right-eye TEXT  Right eye, can be local USB cam (0|1|2..) or IP cam rtsp URL or file  [default: http://axis-
                        lab/axis-cgi/mjpg/video.cgi?&camera=2]
  --help                Show this message and exit.

Rakali分割立体声馈送

将源立体声录制拆分为左右摄像机视图

$ rakali-split-stereo-feed --help

Usage: rakali-split-stereo-feed [OPTIONS]

  Split source stereo recording into left and right camera views

Options:
  --version              Show the version and exit.
  -s, --source TEXT      Stereo video source file to split  [default: in.avi]
  -l, --left-name TEXT   Left camera video name  [default: left_eye_out.avi]
  -r, --right-name TEXT  Right camera video name  [default: right_eye_out.avi]
  --fps FLOAT            Frames per second rate for output file  [default: 12.5]
  --help                 Show this message and exit.

拉卡利

rakali附带了一个小的演示应用程序，用于练习库图像处理 功能。

$ rakali --help
Usage: rakali [OPTIONS] COMMAND [ARGS]...

  Rakali image tools

  Provide either a input file or a input URL for image source

Options:
  --version               Show the version and exit.
  -i, --input-file PATH   Use file
  -u, --input-url TEXT    Fetch image from URL
  -o, --output-file PATH  Output file  [default: out.jpg]
  --help                  Show this message and exit.

Commands:
  resize          Resize the input image preserving aspect ratio, favoring width
  rotate          Rotate the input image
  rotate-bounded  Rotate the input image, keeping bound in place
  skeletonize     Skeletonize the input image

库使用

库文档生成是一项正在进行的工作…

从文件加载并显示图像

from rakali import Image
Image.from_file('rakali.jpg').show()

加载、注释和显示图像

#! /usr/bin/env python

from rakali import Image
img: Image= Image.from_file('rakali.jpg')
img.add_text(labels=['Rakali', 'Hydromys chrysogaster'])
img.show()
img.write('rakali-text.jpg')

精明的

#! /usr/bin/env python"""Cannyfy Live USB video stream"""

from rakali import VideoPlayer, VideoStream, VideoWriter
from rakali.video.fps import cost
from rakali.video import go
from rakali.annotate import add_frame_labels, colors
import imutils
import logging

logging.basicConfig(level=logging.DEBUG)


@cost
def canny(mat):
    img= imutils.auto_canny(image=mat, sigma=0.3)img= add_frame_labels(frame=img,
        labels=[f'canny cost: {canny.cost:6.3f}ms'],
        color=colors.get('WHITE'),
    )return img


stream= VideoStream(src=0)player= VideoPlayer()writer= VideoWriter(size=stream.get_wh_size(), file_name='canny.avi')

with stream, player, writer:
    while go():
        frame= canny(stream.read())
        writer.write(frame)
        player.show(frame)

安装

rakali本质上是一个opencv垫片。因为Rakali的某些部分依赖于OpenCV CUDA的可用性这个 pypi上的“python opencv”lib未标记为依赖项。你需要自己安装，或者使用 你自己预先编译的opencv cuda。Arch Linux在AUR中有opencv cuda，因此请安装：

$ yay -S opencv-cuda

在安装时，还应安装tensorflow-opt-cuda：

# pacman -S tensorflow-opt-cuda

PYPI

拉卡利在皮皮：

$ pip install rakali

手动安装

克隆或下载此repo并在您的virtualenv中执行以下操作：

$ pip install .

标签：

• and
• text
• image
• default
• opencv
• 辅助工具
• calibration
• stereo
• fisheye

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