def __init__(self, camera_model, intrinsics, dist_model, dist_coeff,
resolution):
#setup the aslam camera
if camera_model == 'pinhole':
focalLength = intrinsics[0:2]
principalPoint = intrinsics[2:4]
if dist_model == 'radtan':
dist = cv.RadialTangentialDistortion(dist_coeff[0],
dist_coeff[1],
dist_coeff[2],
dist_coeff[3])
proj = cv.DistortedPinholeProjection(
focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.DistortedPinholeCameraGeometry(proj)
self.frameType = cv.DistortedPinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.DistortedPinholeReprojectionErrorSimple
self.undistorterType = cv.PinholeUndistorterNoMask
elif dist_model == 'equidistant':
dist = cv.EquidistantDistortion(dist_coeff[0], dist_coeff[1],
dist_coeff[2], dist_coeff[3])
proj = cv.EquidistantPinholeProjection(
focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.EquidistantDistortedPinholeCameraGeometry(
proj)
self.frameType = cv.EquidistantDistortedPinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.EquidistantDistortedPinholeReprojectionErrorSimple
self.undistorterType = cv.EquidistantPinholeUndistorterNoMask
elif dist_model == 'fov':
dist = cv.FovDistortion(dist_coeff[0])
proj = cv.FovPinholeProjection(focalLength[0], focalLength[1],
principalPoint[0],
principalPoint[1],
resolution[0], resolution[1],
dist)
self.geometry = cv.FovDistortedPinholeCameraGeometry(proj)
self.frameType = cv.FovDistortedPinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.FovDistortedPinholeReprojectionErrorSimple
self.undistorterType = cv.FovPinholeUndistorterNoMask
elif dist_model == 'none':
proj = cv.PinholeProjection(focalLength[0], focalLength[1],
principalPoint[0],
principalPoint[1], resolution[0],
resolution[1])
self.camera = cv.PinholeCameraGeometry(proj)
self.frameType = cv.PinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.PinholeReprojectionErrorSimple
else:
self.raiseError(
"pinhole camera model does not support distortion model '{}'"
.format(dist_model))
elif camera_model == 'omni':
xi_omni = intrinsics[0]
focalLength = intrinsics[1:3]
principalPoint = intrinsics[3:5]
if dist_model == 'radtan':
dist = cv.RadialTangentialDistortion(dist_coeff[0],
dist_coeff[1],
dist_coeff[2],
dist_coeff[3])
proj = cv.DistortedOmniProjection(
xi_omni, focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.DistortedOmniCameraGeometry(proj)
self.frameType = cv.DistortedOmniFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.DistortedOmniReprojectionErrorSimple
self.undistorterType = cv.OmniUndistorterNoMask
elif dist_model == 'equidistant':
raise RuntimeError(
"Omni with equidistant model not yet supported!")
dist = cv.EquidistantPinholeProjection(dist_coeff[0],
dist_coeff[1],
dist_coeff[2],
dist_coeff[3])
proj = cv.EquidistantOmniProjection(
xi_omni, focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.EquidistantDistortedOmniCameraGeometry(proj)
self.frameType = cv.DistortedOmniFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.EquidistantDistortedOmniReprojectionErrorSimple
elif dist_model == 'none':
proj = cv.OmniProjection(xi_omni, focalLength[0],
focalLength[1], principalPoint[0],
principalPoint[1], resolution[0],
resolution[1])
self.geometry = cv.OmniCameraGeometry(proj)
self.frameType = cv.OmniFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.OmniReprojectionErrorSimple
else:
raise RuntimeError(
"omni camera model does not support distortion model '{}'".
format(dist_model))
elif camera_model == 'eucm':
alpha_uni = intrinsics[0]
beta_uni = intrinsics[1]
focalLength = intrinsics[2:4]
principalPoint = intrinsics[4:6]
if dist_model == 'none':
proj = cv.ExtendedUnifiedProjection(
alpha_uni, beta_uni, focalLength[0], focalLength[1],
principalPoint[0], principalPoint[1], resolution[0],
resolution[1])
self.geometry = cv.ExtendedUnifiedCameraGeometry(proj)
self.frameType = cv.ExtendedUnifiedFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.ExtendedUnifiedReprojectionErrorSimple
else:
raise RuntimeError(
"camera model {} does not support distortion model '{}'".
format(camera_model, dist_model))
elif camera_model == 'ds':
xi_ds = intrinsics[0]
alpha_ds = intrinsics[1]
focalLength = intrinsics[2:4]
principalPoint = intrinsics[4:6]
if dist_model == 'none':
proj = cv.DoubleSphereProjection(xi_ds, alpha_ds,
focalLength[0],
focalLength[1],
principalPoint[0],
principalPoint[1],
resolution[0], resolution[1])
self.geometry = cv.DoubleSphereCameraGeometry(proj)
self.frameType = cv.DoubleSphereFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.DoubleSphereReprojectionErrorSimple
else:
raise RuntimeError(
"camera model {} does not support distortion model '{}'".
format(camera_model, dist_model))
else:
raise RuntimeError(
"Unknown camera model '{}'".format(camera_model))
def __init__(self, camera_model, intrinsics, dist_model, dist_coeff,
resolution):
#setup the aslam camera
if camera_model == 'pinhole':
focalLength = intrinsics[0:2]
principalPoint = intrinsics[2:4]
if dist_model == 'radtan':
dist = cv.RadialTangentialDistortion(dist_coeff[0],
dist_coeff[1],
dist_coeff[2],
dist_coeff[3])
proj = cv.DistortedPinholeProjection(
focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.DistortedPinholeCameraGeometry(proj)
self.frameType = cv.DistortedPinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.DistortedPinholeReprojectionErrorSimple
self.undistorterType = cv.PinholeUndistorterNoMask
elif dist_model == 'equidistant':
dist = cv.EquidistantDistortion(dist_coeff[0], dist_coeff[1],
dist_coeff[2], dist_coeff[3])
proj = cv.EquidistantPinholeProjection(
focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.EquidistantDistortedPinholeCameraGeometry(
proj)
self.frameType = cv.EquidistantDistortedPinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.EquidistantDistortedPinholeReprojectionErrorSimple
self.undistorterType = cv.EquidistantPinholeUndistorterNoMask
elif dist_model == 'fov':
dist = cv.FovDistortion(dist_coeff[0])
proj = cv.FovPinholeProjection(focalLength[0], focalLength[1],
principalPoint[0],
principalPoint[1],
resolution[0], resolution[1],
dist)
self.geometry = cv.FovDistortedPinholeCameraGeometry(proj)
self.frameType = cv.FovDistortedPinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.FovDistortedPinholeReprojectionErrorSimple
self.undistorterType = cv.FovPinholeUndistorterNoMask
else:
proj = cv.PinholeProjection(focalLength[0], focalLength[1],
principalPoint[0],
principalPoint[1], resolution[0],
resolution[1])
self.camera = cv.PinholeCameraGeometry(proj)
self.frameType = cv.PinholeFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.PinholeReprojectionErrorSimple
elif camera_model == 'omni':
xi_omni = intrinsics[0]
focalLength = intrinsics[1:3]
principalPoint = intrinsics[3:5]
if dist_model == 'radtan':
dist = cv.RadialTangentialDistortion(dist_coeff[0],
dist_coeff[1],
dist_coeff[2],
dist_coeff[3])
proj = cv.DistortedOmniProjection(
xi_omni, focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.DistortedOmniCameraGeometry(proj)
self.frameType = cv.DistortedOmniFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.DistortedOmniReprojectionErrorSimple
self.undistorterType = cv.OmniUndistorterNoMask
elif dist_model == 'equidistant':
print "Omni with equidistant model not yet supported!"
sys.exit(0)
dist = cv.EquidistantPinholeProjection(dist_coeff[0],
dist_coeff[1],
dist_coeff[2],
dist_coeff[3])
proj = cv.EquidistantOmniProjection(
xi_omni, focalLength[0], focalLength[1], principalPoint[0],
principalPoint[1], resolution[0], resolution[1], dist)
self.geometry = cv.EquidistantDistortedOmniCameraGeometry(proj)
self.frameType = cv.DistortedOmniFrame
self.keypointType = cv.Keypoint2
self.reprojectionErrorType = cvb.EquidistantDistortedOmniReprojectionErrorSimple
elif dist_model == 'none':
self.raiseError(
"camera model omni needs a distortion model! (none is invalid)"
)
else:
self.raiseError("Unknown camera model")