def calibrate_pt_dlt(self, data=None):
if data is None:
data = self.calibration_raw_6d
data3d = data[:,3:6]
data2d = data[:,0:2]
Pmat, residuals = camera_math.DLT(data3d, data2d)
self.Mhat = Pmat
self.Mhatinv = np.linalg.pinv(self.Mhat)
self.camera_center = camera_math.center(Pmat)
print 'mhat: '
print self.Mhat
print 'camera center: '
print self.camera_center
print 'residuals'
print residuals
print 'decomp'
camera_math.decomp(self.Mhat, SHOW=1)
return
def write_to_xml(self, pmat, filename=None):
if filename is None:
filename = time.strftime("ptf_calibration_xml_%Y%m%d_%H%M%S.txt",time.localtime())
print 'pmat: '
print pmat
K,R,t = camera_math.decomp(pmat)
print 'K: ', K
print 'R: ', R
Knew = np.eye(3)
Rnew = R
Rt = np.hstack((R,t))
Kscaled = K / K[2,2]
print 'kscaled: '
print Kscaled
Pnew = np.dot( Kscaled, Rt)
self.SingleCameraCalibration = reconstruct.SingleCameraCalibration_from_basic_pmat(Pnew, cam_id='ptf', res=[1000,1000])
#self.SingleCameraCalibration.to_file(filename)
#reconstruct.pretty_dump(self.SingleCameraCalibration)
# now load Reconstructor
self.Reconstructor = reconstruct.Reconstructor([self.SingleCameraCalibration])
return
