def launch_calibration(self, method, vdisp ):
def _pump_ui():
if os.environ.get('RUNNING_NOSE') != '1':
Gtk.main_iteration_do(False) #run once, no block
while Gtk.events_pending(): #run remaining
Gtk.main_iteration()
orig_data = []
for row in self.point_store:
if row[VDISP]==vdisp:
orig_data.append( [ row[TEXU], row[TEXV], row[DISPLAYX], row[DISPLAYY] ] )
orig_data = np.array(orig_data)
uv = orig_data[:,:2]
XYZ = self.geom.model.texcoord2worldcoord(uv)
xy = orig_data[:,2:4]
assert method in EXTRINSIC_CALIBRATION_METHODS
if method in ('DLT','RANSAC DLT'):
ransac = method.startswith('RANSAC')
r = dlt.dlt(XYZ, xy, ransac=ransac )
c1 = CameraModel.load_camera_from_M( r['pmat'],
width=self.dsc.width,
height=self.dsc.height,
)
_pump_ui()
if 0:
c2 = c1.get_flipped_camera()
# slightly hacky way to find best camera direction
obj = self.geom.model.get_center()
d1 = np.sqrt( np.sum( (c1.get_lookat() - obj)**2 ))
d2 = np.sqrt( np.sum( (c2.get_lookat() - obj)**2 ))
if d1 < d2:
#print 'using normal camera'
camera = c1
else:
print 'using flipped camera'
camera = c2
elif 1:
farr = self.geom.compute_for_camera_view( c1,
what='texture_coords' )
_pump_ui()
u = farr[:,:,0]
good = ~np.isnan( u )
npix=np.sum( np.nonzero( good ) )
if npix==0:
print 'using flipped camera, otherwise npix = 0'
camera = c1.get_flipped_camera()
else:
camera = c1
else:
camera = c1
elif method in ['extrinsic only','iterative extrinsic only']:
assert self.display_intrinsic_cam is not None, 'need intrinsic calibration'
di = self.dsc.get_display_info()
mirror = None
if 'virtualDisplays' in di:
found = False
for d in di['virtualDisplays']:
if d['id'] == vdisp:
found = True
mirror = d.get('mirror',None)
break
assert found
if mirror is not None:
cami = self.display_intrinsic_cam.get_mirror_camera(axis=mirror)
else:
cami = self.display_intrinsic_cam
_pump_ui()
if method == 'iterative extrinsic only':
result = fit_extrinsics_iterative(cami,XYZ,xy)
else:
result = fit_extrinsics(cami,XYZ,xy)
_pump_ui()
c1 = result['cam']
if 1:
farr = self.geom.compute_for_camera_view( c1,
what='texture_coords' )
_pump_ui()
u = farr[:,:,0]
good = ~np.isnan( u )
npix=np.sum( np.nonzero( good ) )
if npix==0:
print 'using flipped camera, otherwise npix = 0'
camera = c1.get_flipped_camera()
else:
camera = c1
else:
camera = c1
del result
else:
raise ValueError('unknown calibration method %r'%method)
_pump_ui()
projected_points = camera.project_3d_to_pixel( XYZ )
reproj_error = np.sum( (projected_points - xy)**2, axis=1)
mre = np.mean(reproj_error)
for row in self.vdisp_store:
if row[VS_VDISP]==vdisp:
row[VS_MRE] = mre
row[VS_CAMERA_OBJECT] = camera
_pump_ui()
self.update_bg_image()
def test_ransac_dlt():
np.random.seed(3) # try to prevent following from failing occasionally
results = dlt.dlt(XYZ, xy, ransac=True)
assert results['mean_reprojection_error'] < 5.0
def launch_calibration(self, method, vdisp):
def _pump_ui():
if os.environ.get('RUNNING_NOSE') != '1':
Gtk.main_iteration_do(False) #run once, no block
while Gtk.events_pending(): #run remaining
Gtk.main_iteration()
orig_data = []
for row in self.point_store:
if row[VDISP] == vdisp:
orig_data.append(
[row[TEXU], row[TEXV], row[DISPLAYX], row[DISPLAYY]])
orig_data = np.array(orig_data)
uv = orig_data[:, :2]
XYZ = self.geom.model.texcoord2worldcoord(uv)
xy = orig_data[:, 2:4]
assert method in EXTRINSIC_CALIBRATION_METHODS
if method in ('DLT', 'RANSAC DLT'):
ransac = method.startswith('RANSAC')
r = dlt.dlt(XYZ, xy, ransac=ransac)
c1 = CameraModel.load_camera_from_M(
r['pmat'],
width=self.dsc.width,
height=self.dsc.height,
)
_pump_ui()
if 0:
c2 = c1.get_flipped_camera()
# slightly hacky way to find best camera direction
obj = self.geom.model.get_center()
d1 = np.sqrt(np.sum((c1.get_lookat() - obj)**2))
d2 = np.sqrt(np.sum((c2.get_lookat() - obj)**2))
if d1 < d2:
#print 'using normal camera'
camera = c1
else:
print 'using flipped camera'
camera = c2
elif 1:
farr = self.geom.compute_for_camera_view(c1,
what='texture_coords')
_pump_ui()
u = farr[:, :, 0]
good = ~np.isnan(u)
npix = np.sum(np.nonzero(good))
if npix == 0:
print 'using flipped camera, otherwise npix = 0'
camera = c1.get_flipped_camera()
else:
camera = c1
else:
camera = c1
elif method in ['extrinsic only', 'iterative extrinsic only']:
assert self.display_intrinsic_cam is not None, 'need intrinsic calibration'
di = self.dsc.get_display_info()
mirror = None
if 'virtualDisplays' in di:
found = False
for d in di['virtualDisplays']:
if d['id'] == vdisp:
found = True
mirror = d.get('mirror', None)
break
assert found
if mirror is not None:
cami = self.display_intrinsic_cam.get_mirror_camera(
axis=mirror)
else:
cami = self.display_intrinsic_cam
_pump_ui()
if method == 'iterative extrinsic only':
result = fit_extrinsics_iterative(cami, XYZ, xy)
else:
result = fit_extrinsics(cami, XYZ, xy)
_pump_ui()
c1 = result['cam']
if 1:
farr = self.geom.compute_for_camera_view(c1,
what='texture_coords')
_pump_ui()
u = farr[:, :, 0]
good = ~np.isnan(u)
npix = np.sum(np.nonzero(good))
if npix == 0:
print 'using flipped camera, otherwise npix = 0'
camera = c1.get_flipped_camera()
else:
camera = c1
else:
camera = c1
del result
else:
raise ValueError('unknown calibration method %r' % method)
_pump_ui()
projected_points = camera.project_3d_to_pixel(XYZ)
reproj_error = np.sum((projected_points - xy)**2, axis=1)
mre = np.mean(reproj_error)
for row in self.vdisp_store:
if row[VS_VDISP] == vdisp:
row[VS_MRE] = mre
row[VS_CAMERA_OBJECT] = camera
_pump_ui()
self.update_bg_image()
def test_basic_dlt():
results = dlt.dlt(XYZ, xy, ransac=False)
assert results['mean_reprojection_error'] < 6.0
c1 = CameraModel.load_camera_from_M( results['pmat'] )
