def create_calibration_directory(self, cam_ids, IdMat, points, Res, cam_calibrations=[], cam_centers=[], radial_distortion=0, square_pixels=1, num_cameras_fill=-1):
assert len(Res) == len(cam_ids)
if len(cam_calibrations): assert len(cam_ids) == len(cam_calibrations)
if len(cam_centers): assert len(cam_ids) == len(cam_centers)
LOG.debug("points.shape %r" % (points.shape,))
LOG.debug('IdMat.shape %r' % (IdMat.shape,))
LOG.debug('Res %r' % (Res,))
self._write_cam_ids(cam_ids)
if len(cam_calibrations):
for i,url in enumerate(cam_calibrations):
assert os.path.isfile(url)
#i+1 because mcsc expects matlab numbering...
dest = "%s/%s%d.rad" % (self.out_dirname, self.basename, i+1)
if url.endswith('.yaml'):
camera_calibration_yaml_to_radfile(
url,
dest)
elif url.endswith('.rad'):
shutil.copy(url,dest)
else:
raise Exception("Calibration format %s not supported" % url)
LOG.debug('wrote cam calibration file %s' % dest)
if len(cam_centers):
save_ascii_matrix(cam_centers,os.path.join(self.out_dirname,'original_cam_centers.dat'))
save_ascii_matrix(Res, os.path.join(self.out_dirname,'Res.dat'), isint=True)
save_ascii_matrix(IdMat, os.path.join(self.out_dirname,'IdMat.dat'), isint=True)
save_ascii_matrix(points, os.path.join(self.out_dirname,'points.dat'))
self._write_cfg(cam_ids, radial_distortion, square_pixels, num_cameras_fill, cam_centers)
def create_calibration_directory(self,
cam_ids,
IdMat,
points,
Res,
cam_calibrations=[],
cam_centers=[],
radial_distortion=0,
square_pixels=1,
num_cameras_fill=-1):
assert len(Res) == len(cam_ids)
if len(cam_calibrations): assert len(cam_ids) == len(cam_calibrations)
if len(cam_centers): assert len(cam_ids) == len(cam_centers)
LOG.debug("points.shape %r" % (points.shape, ))
LOG.debug('IdMat.shape %r' % (IdMat.shape, ))
LOG.debug('Res %r' % (Res, ))
self._write_cam_ids(cam_ids)
if len(cam_calibrations):
for i, url in enumerate(cam_calibrations):
assert os.path.isfile(url)
#i+1 because mcsc expects matlab numbering...
dest = "%s/%s%d.rad" % (self.out_dirname, self.basename, i + 1)
if url.endswith('.yaml'):
camera_calibration_yaml_to_radfile(url, dest)
elif url.endswith('.rad'):
shutil.copy(url, dest)
else:
raise Exception("Calibration format %s not supported" %
url)
LOG.debug('wrote cam calibration file %s' % dest)
if len(cam_centers):
save_ascii_matrix(
cam_centers,
os.path.join(self.out_dirname, 'original_cam_centers.dat'))
save_ascii_matrix(Res,
os.path.join(self.out_dirname, 'Res.dat'),
isint=True)
save_ascii_matrix(IdMat,
os.path.join(self.out_dirname, 'IdMat.dat'),
isint=True)
save_ascii_matrix(points, os.path.join(self.out_dirname, 'points.dat'))
self._write_cfg(cam_ids, radial_distortion, square_pixels,
num_cameras_fill, cam_centers)
def create_from_cams(
self, cam_ids=[], cam_resolutions={}, cam_points={}, cam_calibrations={}, num_cameras_fill=-1, **kwargs
):
# num_cameras_fill = -1 means use all cameras (= len(cam_ids))
if not cam_ids:
cam_ids = cam_points.keys()
# remove cameras with no points
cams_to_remove = []
for cam in cam_ids:
nvalid = np.count_nonzero(np.nan_to_num(np.array(cam_points[cam])))
if nvalid == 0:
cams_to_remove.append(cam)
LOG.warn("removing cam %s - no points detected" % cam)
map(cam_ids.remove, cams_to_remove)
self._write_cam_ids(cam_ids)
resfd = open(os.path.join(self.out_dirname, "Res.dat"), "w")
foundfd = open(os.path.join(self.out_dirname, "IdMat.dat"), "w")
pointsfd = open(os.path.join(self.out_dirname, "points.dat"), "w")
for i, cam in enumerate(cam_ids):
points = np.array(cam_points[cam])
assert points.shape[1] == 2
npts = points.shape[0]
# add colum of 1s (homogenous coords, Z)
points = np.hstack((points, np.ones((npts, 1))))
# multicamselfcal expects points rowwise (as multiple cams per file)
points = points.T
# detected points are those non-nan (just choose one axis, there is no
# possible scenario where one axis is a valid coord and the other is nan
# in my feature detection scheme
found = points[0, :]
# replace nans with 0 and numbers with 1
found = np.nan_to_num(found).clip(max=1)
res = np.array(cam_resolutions[cam])
save_ascii_matrix(res.reshape((1, 2)), resfd, isint=True)
save_ascii_matrix(found.reshape((1, npts)), foundfd, isint=True)
save_ascii_matrix(points, pointsfd)
# write camera rad files if supplied
if cam in cam_calibrations:
url = cam_calibrations[cam]
assert os.path.isfile(url)
# i+1 because mcsc expects matlab numbering...
dest = "%s/%s%d.rad" % (self.out_dirname, self.basename, i + 1)
if url.endswith(".yaml"):
camera_calibration_yaml_to_radfile(url, dest)
elif url.endswith(".rad"):
shutil.copy(url, dest)
else:
raise Exception("Calibration format %s not supported" % url)
resfd.close()
foundfd.close()
pointsfd.close()
undo_radial = all([cam in cam_calibrations for cam in cam_ids])
self._write_cfg(cam_ids, undo_radial, True, num_cameras_fill, [])
LOG.debug("dropped cams: %s" % ",".join(cams_to_remove))
def create_from_cams(self,
cam_ids=[],
cam_resolutions={},
cam_points={},
cam_calibrations={},
num_cameras_fill=-1,
**kwargs):
#num_cameras_fill = -1 means use all cameras (= len(cam_ids))
if not cam_ids:
cam_ids = cam_points.keys()
#remove cameras with no points
cams_to_remove = []
for cam in cam_ids:
nvalid = np.count_nonzero(np.nan_to_num(np.array(cam_points[cam])))
if nvalid == 0:
cams_to_remove.append(cam)
LOG.warn("removing cam %s - no points detected" % cam)
map(cam_ids.remove, cams_to_remove)
self._write_cam_ids(cam_ids)
resfd = open(os.path.join(self.out_dirname, 'Res.dat'), 'w')
foundfd = open(os.path.join(self.out_dirname, 'IdMat.dat'), 'w')
pointsfd = open(os.path.join(self.out_dirname, 'points.dat'), 'w')
for i, cam in enumerate(cam_ids):
points = np.array(cam_points[cam])
assert points.shape[1] == 2
npts = points.shape[0]
#add colum of 1s (homogenous coords, Z)
points = np.hstack((points, np.ones((npts, 1))))
#multicamselfcal expects points rowwise (as multiple cams per file)
points = points.T
#detected points are those non-nan (just choose one axis, there is no
#possible scenario where one axis is a valid coord and the other is nan
#in my feature detection scheme
found = points[0, :]
#replace nans with 0 and numbers with 1
found = np.nan_to_num(found).clip(max=1)
res = np.array(cam_resolutions[cam])
save_ascii_matrix(res.reshape((1, 2)), resfd, isint=True)
save_ascii_matrix(found.reshape((1, npts)), foundfd, isint=True)
save_ascii_matrix(points, pointsfd)
#write camera rad files if supplied
if cam in cam_calibrations:
url = cam_calibrations[cam]
assert os.path.isfile(url)
#i+1 because mcsc expects matlab numbering...
dest = "%s/%s%d.rad" % (self.out_dirname, self.basename, i + 1)
if url.endswith('.yaml'):
camera_calibration_yaml_to_radfile(url, dest)
elif url.endswith('.rad'):
shutil.copy(url, dest)
else:
raise Exception("Calibration format %s not supported" %
url)
resfd.close()
foundfd.close()
pointsfd.close()
undo_radial = all([cam in cam_calibrations for cam in cam_ids])
self._write_cfg(cam_ids, undo_radial, True, num_cameras_fill, [])
LOG.debug("dropped cams: %s" % ','.join(cams_to_remove))