key = cv2.waitKeyEx(5)
if key == -1:
# no key press
continue
print('key:', key)
if key == 27:
break
elif key == ord('y'):
if shift_mod_hack:
cam_yaw -= 0.5
else:
cam_yaw += 0.5
config.setFloatEnum('mount_ypr', 0, cam_yaw)
props_json.save(local_config, config)
shift_mod_hack = False
elif key == ord('p'):
if shift_mod_hack:
cam_pitch -= 0.5
else:
cam_pitch += 0.5
config.setFloatEnum('mount_ypr', 1, cam_pitch)
props_json.save(local_config, config)
shift_mod_hack = False
elif key == ord('r'):
if shift_mod_hack:
cam_roll += 0.5
else:
cam_roll -= 0.5
props_json.load(camera_config, config)
cam_yaw = config.getFloatEnum('mount_ypr', 0)
cam_pitch = config.getFloatEnum('mount_ypr', 1)
cam_roll = config.getFloatEnum('mount_ypr', 2)
# setup camera calibration and distortion coefficients
if args.select_cam:
# set the camera calibration from known preconfigured setups
name, K, dist = cam_calib.set_camera_calibration(args.select_cam)
config.setString('name', name)
config.setFloat("fx", K[0][0])
config.setFloat("fy", K[1][1])
config.setFloat("cu", K[0][2])
config.setFloat("cv", K[1][2])
for i, d in enumerate(dist):
config.setFloatEnum("dist_coeffs", i, d)
props_json.save(camera_config, config)
else:
# load the camera calibration from the config file
name = config.getString('name')
size = config.getLen("dist_coeffs")
dist = []
for i in range(size):
dist.append(config.getFloatEnum("dist_coeffs", i))
K = np.zeros((3, 3))
K[0][0] = config.getFloat("fx")
K[1][1] = config.getFloat("fy")
K[0][2] = config.getFloat("cu")
K[1][2] = config.getFloat("cv")
K[2][2] = 1.0
print 'Camera:', name
props_json.load(camera_config, config)
cam_yaw = config.getFloatEnum('mount_ypr', 0)
cam_pitch = config.getFloatEnum('mount_ypr', 1)
cam_roll = config.getFloatEnum('mount_ypr', 2)
# setup camera calibration and distortion coefficients
if args.select_cam:
# set the camera calibration from known preconfigured setups
name, K, dist = cam_calib.set_camera_calibration(args.select_cam)
config.setString('name', name)
config.setFloat("fx", K[0][0])
config.setFloat("fy", K[1][1])
config.setFloat("cu", K[0][2])
config.setFloat("cv", K[1][2])
for i, d in enumerate(dist):
config.setFloatEnum("dist_coeffs", i, d)
props_json.save(camera_config, config)
else:
# load the camera calibration from the config file
name = config.getString('name')
size = config.getLen("dist_coeffs")
dist = []
for i in range(size):
dist.append(config.getFloatEnum("dist_coeffs", i))
K = np.zeros((3, 3))
K[0][0] = config.getFloat("fx")
K[1][1] = config.getFloat("fy")
K[0][2] = config.getFloat("cu")
K[1][2] = config.getFloat("cv")
K[2][2] = 1.0
print 'Camera:', name
