def read_text_list_from_file(text_file_fname, # type: str
): # type: (...) -> list
with open(text_file_fname, 'r') as f:
text_list = f.readlines()
for i in range(len(text_list)):
text_list[i] = string_utils.remove_newlines(text_list[i])
return text_list
def from_ascii_file(
cls,
ascii_file # type: str
): # type: (...) -> Spectrum
with open(ascii_file) as f:
content = f.readlines()
wavelengths = []
spectral_data = []
wavelengths_and_reflectances = content[3:]
for text in wavelengths_and_reflectances:
text = string_utils.remove_newlines(text)
text = ' '.join(text.split())
w, r = text.split()
wavelengths.append(float(w))
spectral_data.append(float(r))
spectral_data = np.array(spectral_data)
wavelengths = np.array(wavelengths)
spectrum = Spectrum()
spectrum.set_wavelength_units(WAVELENGTH_UNITS)
spectrum.set_wavelengths(wavelengths)
spectrum.set_spectral_data(spectral_data)
spectrum.set_spectrum_units(SPECTRUM_UNITS)
return spectrum
def read_calibrated_external_camera_parameters(self,
calibrated_external_params_file # type: str
): # type: (...) -> dict
# TODO, this is duplicated in pix4d utils and can probably be removed here.
external_params = {}
with open(calibrated_external_params_file, 'r') as f:
lines = f.readlines()
cleaned_up_lines = [string_utils.remove_newlines(x) for x in lines][1:]
for file_params in cleaned_up_lines:
fname, x, y, z, omega, phi, kappa = file_params.split(" ")
external_params[fname] = [float(x), float(y), float(z), float(omega), float(phi), float(kappa)]
return external_params
def read_pix4d_calibrated_internal_camera_parameters(internal_params_cam_file, # type: str
search_text="Pix4D", # type: str
): # type: (...) -> list
"""
Reads the internal parameters camera file generated by pix4d and return a list of dictionaries, which contain
values for each camera's internal parameters accordin to the Pix4d documentation.
For each camera, the following parameters are contained in the dictionary:
'F': focal length in millimeters
'K1': Radial distortion parameter 1
'K2': Radial distortion parameter 2
'K3': Radial distortion parameter 3
'Px': Principal point in the x pixel direction
'Py': Principal point in the y pixel direction
'T1': Tangential distortion parameter 1
'T2': Tangential distortion parameter 2
'fpa_height_mm': focal plane height, in millimeters
'fpa_width_mm': focal plane width, in millimeters
:param internal_params_cam_file:
:param search_text:
:return: list of dictionaries containing the internal camera parameters
"""
with open(internal_params_cam_file, 'r') as f:
lines = f.readlines()
lines = [string_utils.remove_newlines(x) for x in lines]
new_camera_param_start_locations = []
for i, line in enumerate(lines):
if search_text in line:
new_camera_param_start_locations.append(i)
new_camera_param_end_locations = new_camera_param_start_locations[1:]
new_camera_param_end_locations.append(i)
camera_params_list = []
for i in range(len(new_camera_param_start_locations)):
internal_params_dict = {}
text_block = lines[new_camera_param_start_locations[i] + 1:new_camera_param_end_locations[i]]
text_block = list(filter(lambda a: a != '', text_block))
for txt in text_block:
if txt.startswith("#"):
if "Focal Length mm" in txt:
fpa_width_mm, fpa_height_mm = txt[txt.rfind(" ") + 1:].replace("mm", "").split("x")
internal_params_dict["fpa_width_mm"] = float(fpa_width_mm)
internal_params_dict["fpa_height_mm"] = float(fpa_height_mm)
else:
pass
else:
key, val = txt.split(" ")
internal_params_dict[key] = float(val)
camera_params_list.append(internal_params_dict)
return camera_params_list
def read_p_matrices(pmatrix_txt_file # type: str
): # type: (...) -> dict
# TODO: create working example for this or remove, it doesn't seem to be used by any other methods in the project.
p_matricies = {}
with open(pmatrix_txt_file, 'r') as f:
lines = f.readlines()
for line in lines:
line_no_linesep = string_utils.remove_newlines(line.strip())
line_fields = line_no_linesep.split(' ')
params = np.asarray(line_fields[1:], dtype=float)
fname = line_fields[0]
p_matricies[fname] = params
return p_matricies
def read_calibrated_external_camera_parameters(calibrated_external_params_file # type: str
): # type: (...) -> dict
"""
Reads external orientation parameters from a file for an entire pix4d collect
:param calibrated_external_params_file: external orientation parameters file to read
:return: dictionary of external orientation parameters.
Key is the base image file name
value is a numpy array of length 6 containing x, y, z, omega, phi, kappa
Units are specified by the collect's projection (x, y, z), and degrees for omega, phi, kappa (roll, pitch, yaw)
"""
external_params = {}
with open(calibrated_external_params_file, 'r') as f:
lines = f.readlines()
cleaned_up_lines = [string_utils.remove_newlines(x) for x in lines][1:]
for file_params in cleaned_up_lines:
fname, x, y, z, omega, phi, kappa = file_params.split(" ")
external_params[fname] = [float(x), float(y), float(z), float(omega), float(phi), float(kappa)]
return external_params
def read_calibrated_camera_parameters(calibrated_params_file # type: str
): # type: (...) -> dict
"""
This method reads the calibrated camera parameters for an entire pix4d collect and returns a dictionary
The dictionary keys are the base image file name. The values are another dictionary that have the following
key / value pairs:
'camera_matrix_k': 3x3 numpy array containing the camera k matrix
'camera_position_t': ndarray of length 3 containing the camera position 't'
'camera_rotation_r': 3x3 ndarray containing the camera's rotation matrix
'n_x_pixels': number of x pixels
'n_y_pixels': number of y pixels
'radial_distortion': numpy array containing 3 radial distortion parameters
'tangential_distortion': numpy array containing 2 tangential distortion parameters.
:param calibrated_params_file:
:return: dictionary of image filenames and calibrated parameters
"""
calibrated_params = {}
with open(calibrated_params_file, 'r') as f:
lines = f.readlines()
cleaned_up_lines = [string_utils.remove_newlines(x) for x in lines]
params = cleaned_up_lines[8:]
per_file_params = [params[x:x + 10] for x in range(0, len(params), 10)]
for file_params in per_file_params:
fname, image_w, image_h = file_params[0].split(" ")
tmp_list = np.array(file_params[1:4])
camera_matrix_k = np.array([list(map(float, row.split())) for row in tmp_list])
tmp_list = np.array(file_params[4:5])
radial_distortion = np.array(np.squeeze([list(map(float, row.split())) for row in tmp_list]))
tmp_list = np.array(file_params[5:6])
tangential_distortion = np.array(np.squeeze([list(map(float, row.split())) for row in tmp_list]))
tmp_list = np.array(file_params[6:7])
camera_position_t = np.array([list(map(float, row.split())) for row in tmp_list])
tmp_list = np.array(file_params[7:10])
camera_rotation_r = np.array([list(map(float, row.split())) for row in tmp_list])
fname_params = {"n_x_pixels": int(image_w),
"n_y_pixels": int(image_h),
"camera_matrix_k": camera_matrix_k,
"radial_distortion": radial_distortion,
"tangential_distortion": tangential_distortion,
"camera_position_t": camera_position_t,
"camera_rotation_r": camera_rotation_r}
calibrated_params[fname] = fname_params
return calibrated_params
def read_pix4d_calibrated_internal_camera_parameters(self,
internal_params_cam_file, # type: str
search_text="Pix4D" # type: str
): # type: (...) -> list
# TODO: This is duplicated in pix4d_utils and can probably be removed here.
with open(internal_params_cam_file, 'r') as f:
lines = f.readlines()
lines = [string_utils.remove_newlines(x) for x in lines]
new_camera_param_start_locations = []
for i, line in enumerate(lines):
if search_text in line:
new_camera_param_start_locations.append(i)
new_camera_param_end_locations = new_camera_param_start_locations[1:]
new_camera_param_end_locations.append(i)
camera_params_list = []
for i in range(len(new_camera_param_start_locations)):
internal_params_dict = {}
text_block = lines[new_camera_param_start_locations[i] + 1:new_camera_param_end_locations[i]]
text_block = list(filter(lambda a: a != '', text_block))
for txt in text_block:
if txt.startswith("#"):
if "Focal Length mm" in txt:
fpa_width_mm, fpa_height_mm = txt[txt.rfind(" ") + 1:].replace("mm", "").split("x")
internal_params_dict["fpa_width_mm"] = float(fpa_width_mm)
internal_params_dict["fpa_height_mm"] = float(fpa_height_mm)
else:
pass
else:
key, val = txt.split(" ")
internal_params_dict[key] = float(val)
camera_params_list.append(internal_params_dict)
return camera_params_list