def __init__(self, intrinsic, trainer, cfg, mode=Theta.NonDual):
# variables
self.rv = np.asarray([], dtype=np.float32) # rotation
self.tv = np.asarray([], dtype=np.float32) # translation
self.mode = mode
# load some configs
self.half_fov = np.radians(cfg.camera_fov) / 2
pnp = cfg.pnp_flags
# add SOLVEPNP_ prefix if not found
if not pnp.startswith("SOLVEPNP_"):
pnp = "SOLVEPNP_" + pnp
# solvepnp flag
if pnp in cv2.__dict__:
self.pnp_flags = cv2.__dict__[pnp]
else:
print f, "is not found in cv2, reverting to Levenberg-Marquardt"
self.pnp_flags = cv2.SOLVEPNP_ITERATIVE
# open intrinsic, trainer files
self.cam, self.distort = self.parseCamIntr(intrinsic)
self.img_pts, self.obj_pts = self.parseTrainer(trainer)
print "Camera Matrix\n", self.cam
print "\nside:", Theta.name(mode)
print "img_pts {}".format(len(self.img_pts))
print "obj_pts {}".format(len(self.obj_pts))
#calculate pose
self.rv, self.tv = self.calPose()
self.R = cv2.Rodrigues(self.rv)[0]
def __init__(self, intrinsic, trainer, cfg, mode=Theta.NonDual):
# variables
self.rv = np.asarray([], dtype=np.float32) # rotation
self.tv = np.asarray([], dtype=np.float32) # translation
self.mode = mode
# load some configs
self.half_fov = np.radians(cfg.camera_fov) / 2
pnp = cfg.pnp_flags
# add SOLVEPNP_ prefix if not found
if not pnp.startswith("SOLVEPNP_"):
pnp = "SOLVEPNP_" + pnp
# solvepnp flag
if pnp in cv2.__dict__:
self.pnp_flags = cv2.__dict__[pnp]
else:
print f, "is not found in cv2, reverting to Levenberg-Marquardt"
self.pnp_flags = cv2.SOLVEPNP_ITERATIVE
# open intrinsic, trainer files
self.cam, self.distort = self.parseCamIntr(intrinsic)
self.img_pts, self.obj_pts = self.parseTrainer(trainer)
print "Camera Matrix\n", self.cam
print "\nside:", Theta.name(mode)
print "img_pts {}".format(len(self.img_pts))
print "obj_pts {}".format(len(self.obj_pts))
#calculate pose
self.rv, self.tv = self.calPose()
self.R = cv2.Rodrigues(self.rv)[0]
