def _get_fisheye_camera():
camera = types.FisheyeCamera()
camera.width = 800
camera.height = 600
camera.focal = 0.6
camera.k1 = -0.1
camera.k2 = 0.01
return camera
def camera_from_exif_metadata(metadata, data):
'''
Create a camera object from exif metadata
'''
pt = metadata.get('projection_type', 'perspective').lower()
if pt == 'perspective':
calib = (hard_coded_calibration(metadata)
or focal_ratio_calibration(metadata)
or default_calibration(data))
camera = types.PerspectiveCamera()
camera.id = metadata['camera']
camera.width = metadata['width']
camera.height = metadata['height']
camera.projection_type = pt
camera.focal = calib['focal']
camera.k1 = calib['k1']
camera.k2 = calib['k2']
return camera
elif pt == 'brown':
calib = (hard_coded_calibration(metadata)
or focal_xy_calibration(metadata)
or default_calibration(data))
camera = types.BrownPerspectiveCamera()
camera.id = metadata['camera']
camera.width = metadata['width']
camera.height = metadata['height']
camera.projection_type = pt
camera.focal_x = calib['focal_x']
camera.focal_y = calib['focal_y']
camera.c_x = calib['c_x']
camera.c_y = calib['c_y']
camera.k1 = calib['k1']
camera.k2 = calib['k2']
camera.p1 = calib['p1']
camera.p2 = calib['p2']
camera.k3 = calib['k3']
return camera
elif pt == 'fisheye':
calib = (hard_coded_calibration(metadata)
or focal_ratio_calibration(metadata)
or default_calibration(data))
camera = types.FisheyeCamera()
camera.id = metadata['camera']
camera.width = metadata['width']
camera.height = metadata['height']
camera.projection_type = pt
camera.focal = calib['focal']
camera.k1 = calib['k1']
camera.k2 = calib['k2']
return camera
elif pt in ['equirectangular', 'spherical']:
camera = types.SphericalCamera()
camera.id = metadata['camera']
camera.width = metadata['width']
camera.height = metadata['height']
return camera
else:
raise ValueError("Unknown projection type: {}".format(pt))
def camera_from_json(key, obj):
"""
Read camera from a json object
"""
pt = obj.get('projection_type', 'perspective')
if pt == 'perspective':
camera = types.PerspectiveCamera()
camera.id = key
camera.width = obj.get('width', 0)
camera.height = obj.get('height', 0)
camera.focal = obj['focal']
camera.k1 = obj.get('k1', 0.0)
camera.k2 = obj.get('k2', 0.0)
return camera
if pt == 'brown':
camera = types.BrownPerspectiveCamera()
camera.id = key
camera.width = obj.get('width', 0)
camera.height = obj.get('height', 0)
camera.focal_x = obj['focal_x']
camera.focal_y = obj['focal_y']
camera.c_x = obj.get('c_x', 0.0)
camera.c_y = obj.get('c_y', 0.0)
camera.k1 = obj.get('k1', 0.0)
camera.k2 = obj.get('k2', 0.0)
camera.p1 = obj.get('p1', 0.0)
camera.p2 = obj.get('p2', 0.0)
camera.k3 = obj.get('k3', 0.0)
return camera
elif pt == 'fisheye':
camera = types.FisheyeCamera()
camera.id = key
camera.width = obj.get('width', 0)
camera.height = obj.get('height', 0)
camera.focal = obj['focal']
camera.k1 = obj.get('k1', 0.0)
camera.k2 = obj.get('k2', 0.0)
return camera
elif pt == 'dual':
camera = types.DualCamera()
camera.id = key
camera.width = obj.get('width', 0)
camera.height = obj.get('height', 0)
camera.focal = obj['focal']
camera.k1 = obj.get('k1', 0.0)
camera.k2 = obj.get('k2', 0.0)
camera.transition = obj.get('transition', 0.5)
return camera
elif pt in ['equirectangular', 'spherical']:
camera = types.SphericalCamera()
camera.id = key
camera.width = obj['width']
camera.height = obj['height']
return camera
else:
raise NotImplementedError
def _get_fisheye_camera():
camera = types.FisheyeCamera()
camera.width = 800
camera.height = 600
camera.focal = 0.6
camera.k1 = -0.1
camera.k2 = 0.01
camera_cpp = pygeometry.Camera.create_fisheye(camera.focal, camera.k1,
camera.k2)
return camera, camera_cpp
def get_camera(type, id, focal, k1, k2):
camera = None
if type == 'perspective':
camera = types.PerspectiveCamera()
if type == 'fisheye':
camera = types.FisheyeCamera()
camera.id = id
camera.focal = focal
camera.k1 = k1
camera.k2 = k2
camera.height = 1600
camera.width = 2000
return camera
def test_fisheye_camera_projection():
"""Test fisheye projection--backprojection loop."""
if not context.OPENCV3:
return
camera = types.FisheyeCamera()
camera.width = 800
camera.height = 600
camera.focal = 0.6
camera.k1 = -0.1
camera.k2 = 0.01
pixel = [0.1, 0.2]
bearing = camera.pixel_bearing(pixel)
projected = camera.project(bearing)
assert np.allclose(pixel, projected)
def camera_from_json(key, obj):
"""
Read camera from a json object
"""
pt = obj.get('projection_type', 'perspective')
if pt == 'perspective':
camera = types.PerspectiveCamera()
camera.id = key
camera.width = obj.get('width', 0)
camera.height = obj.get('height', 0)
camera.focal = obj['focal']
camera.k1 = obj.get('k1', 0.0)
camera.k2 = obj.get('k2', 0.0)
camera.focal_prior = obj.get('focal_prior', camera.focal)
camera.k1_prior = obj.get('k1_prior', camera.k1)
camera.k2_prior = obj.get('k2_prior', camera.k2)
return camera
elif pt == 'fisheye':
camera = types.FisheyeCamera()
camera.id = key
camera.width = obj.get('width', 0)
camera.height = obj.get('height', 0)
camera.focal = obj['focal']
camera.k1 = obj.get('k1', 0.0)
camera.k2 = obj.get('k2', 0.0)
camera.focal_prior = obj.get('focal_prior', camera.focal)
camera.k1_prior = obj.get('k1_prior', camera.k1)
camera.k2_prior = obj.get('k2_prior', camera.k2)
return camera
elif pt in ['equirectangular', 'spherical']:
camera = types.SphericalCamera()
camera.id = key
camera.width = obj['width']
camera.height = obj['height']
return camera
else:
raise NotImplementedError
