def _get_cameramodel(self, noise=True):
params = self.cameraparams
cameramodel = CameraModel(self.resolution, params)
cameramodel.update_point_cloud(self.mod.points)
points2d = cameramodel.points2d
if noise:
points2d = self._add_noise(points2d)
points2d = self._do_missclassifcation(points2d)
cameramodel.points2d = points2d
return cameramodel
def __init__(self, resolution, points2d, points3d, logger=None):
self._points2d = points2d
self._points3d = points3d
self._points2d_inliers = []
self._points3d_inliers = []
self._inliers = []
self._resolution = resolution
self._reduce_dist_param = False
self._cm = CameraModel(resolution)
self._max_iter = 5000
if logger == None:
self.logger = logging.getLogger()
else:
self.logger = logger
def run_application(args):
poc = ProofOfConcept(args)
image = poc.get_image()
plt.imshow(image)
cameraparams = poc.cameraparams
cameraparams_est, res, cme = poc.estimate()
print("Cost (reduced data): " + str(res.cost))
print("Optimality, gradient value (reduced data): " + str(res.optimality))
inliers = np.array(cme._inliers)
points = np.array(poc.mod.points)
print("Inliers in percent: " +
str(100.0 * inliers.shape[0] / points.shape[0]))
print(
array_string([
" ", "fx", "fy", "cx", "cy", "thetax", "thetay", "thetaz", "tx",
"ty", "tz", "k1", "k2", "k3", "p1", "p2"
], 8))
print("shuld: " + cameraparams.get_string(8))
print("is: " + cameraparams_est.get_string(8))
dist = np.array(cameraparams.get_as_array()) - np.array(
cameraparams_est.get_as_array())
print("diff: " + array_string(np.round(dist, 2), 8))
print("Tot. diff: {}".format(np.linalg.norm(dist)))
cm_est = CameraModel(poc.resolution, cameraparams_est)
cm_est.update_point_cloud(poc.mod.points)
image_est = cm_est.get_image()
image1 = np.zeros((poc.resolution[0], poc.resolution[1], 3))
image2 = np.zeros((poc.resolution[0], poc.resolution[1], 3))
image1[:, :, 2] = image_est
image2[:, :, 1] = image
kernel = np.ones((3, 3), np.uint8)
diff_img = image1 + image2
diff_img = cv2.dilate(diff_img, kernel, iterations=1)
cv2.imwrite("diff_img.png", diff_img * 255)
plt.figure()
plt.imshow(diff_img)
plt.show()
