def transform(time_poses):
pose_table = tables.expand_views(
struct(camera=camera_poses, times=time_poses))
return tables.transform_points(
tables.expand_dims(pose_table, (2, 3)),
tables.expand_dims(world_points, (0, 1)))
def project_points(pose_table, cameras, camera_poses, world_points):
pose_estimates = struct(camera=camera_poses, times=pose_table)
pose_table = tables.expand_views(pose_estimates)
points = tables.transform_points(tables.expand_dims(pose_table, (2, 3)),
tables.expand_dims(world_points, (0, 1)))
return project_cameras(cameras, points)
def update_calibration(self, calib):
self.meshes.update(calib)
self.view_poses = tables.inverse(
tables.expand_views(calib.pose_estimates))
for camera_set, pose in zip(self.camera_sets,
self.view_poses._sequence(1)):
camera_set.update_poses(pose)
self.board_set.update_poses(calib.pose_estimates.board)
def __init__(self, viewer, calib, board_colors):
self.viewer = viewer
self.view_poses = tables.inverse(
tables.expand_views(calib.pose_estimates))
self.meshes = SceneMeshes(calib)
self.board_set = BoardSet(self.viewer, calib.pose_estimates.board,
self.meshes.board, board_colors)
self.camera_sets = [
CameraSet(self.viewer, poses, self.meshes.camera)
for poses in self.view_poses._sequence(1)
]
self.axis_set = AxisSet(self.viewer, self.meshes.axis,
self.view_poses._index[:, 0])
self.show(False)