def __init__(self):
# Camera Info
self.id = ''
self.model = ''
# Camera Parameters
self.intrinsics = None
self.rotation = None
self.translation = None
self.optimalcameramatrix = None
self.homography = None
self.inverse_homography = None
self.roi = None
self.plane = None
# Video
self.video = Video()
def __init__(self):
# Camera Info
self.id = ''
self.model = ''
# Camera Parameters
self.intrinsics = None
self.rotation = None
self.translation = None
self.optimalcameramatrix = None
self.roi = None
# Video
self.video = Video()
class Camera(object):
"""
Camera class that contains the different values we need to know about
each camera. It also gives the different methods that we need to load
all the values of each cameras from configuration files.
"""
def __init__(self):
# Camera Info
self.id = ''
self.model = ''
# Camera Parameters
self.intrinsics = None
self.rotation = None
self.translation = None
self.optimalcameramatrix = None
self.roi = None
# Video
self.video = Video()
def __formatintrinsics(self, intrinsics):
m_str = '%s %s %s; %s %s %s; %s %s %s'\
% (intrinsics[0], intrinsics[1], intrinsics[2],
intrinsics[3], intrinsics[4], intrinsics[5],
intrinsics[6], intrinsics[7], intrinsics[8])
self.intrinsics = np.matrix(m_str)
def __formatrotation(self, rotation):
m_str = '%s %s %s; %s %s %s; %s %s %s'\
% (rotation[0], rotation[1], rotation[2],
rotation[3], rotation[4], rotation[5],
rotation[6], rotation[7], rotation[8])
self.rotation = np.matrix(m_str)
def __formattranslation(self, translation):
m_str = '%s; %s; %s'\
% (translation[0], translation[1], translation[2])
self.translation = np.matrix(m_str)
def readconfigfile(self, config_file):
c = cp.ConfigParser()
c.read(config_file)
self.id = c.get('CameraInfo', 'id')
self.model = c.get('CameraInfo', 'model')
intrinsics = c.get('CameraParameters', 'intrinsics').split()
rotation = c.get('CameraParameters', 'rotation').split()
translation = c.get('CameraParameters', 'translation').split()
self.__formatintrinsics(intrinsics)
self.__formatrotation(rotation)
self.__formattranslation(translation)
self.initcameracalibration()
def printcamerainfo(self):
print ''
print 'Printing Camera Object Variables'
print ''
print '* Camera Info *'
print 'id: %s\n%s' % (self.id, type(self.id))
print 'model: %s\n%s' % (self.model, type(self.model))
print ''
print '* Camera Parameters *'
print 'intrinsics:\n%s\n%s' % (self.intrinsics, type(self.intrinsics))
print 'rotation:\n%s\n%s' % (self.rotation, type(self.rotation))
print 'translation:\n%s\n%s' % (
self.translation, type(self.translation))
print ''
self.video.printvideoinfo()
def initcameracalibration(self):
self.__getoptimalcameramatrix()
self.__initretroprojection()
def __getoptimalcameramatrix(self):
w = int(self.video.width)
h = int(self.video.height)
# http://code.opencv.org/issues/1718
self.optimalcameramatrix, self.roi = \
cv2.getOptimalNewCameraMatrix(
self.intrinsics, np.float64([0, 0, 0, 0]), (w, h), 1, (w, h))
def __initretroprojection(self):
# http://bit.ly/opencv2d3d
r_mat = self.rotation
t_mat = self.translation
self.rt = r_mat * t_mat
def undistortimage(self, ret, src):
dst = cv2.undistort(
src, self.intrinsics, None, None, self.optimalcameramatrix)
x, y, w, h = self.roi
#return ret, dst[y:y + h, x:x + w]
return ret, dst
def getundistortedframe(self):
ret, frame = self.video.getframe()
return self.undistortimage(ret, frame)
class Camera(object):
"""
Camera class that contains the different values we need to know about
each camera. It also gives the different methods that we need to load
all the values of each cameras from configuration files.
"""
def __init__(self):
# Camera Info
self.id = ''
self.model = ''
# Camera Parameters
self.intrinsics = None
self.rotation = None
self.translation = None
self.optimalcameramatrix = None
self.homography = None
self.inverse_homography = None
self.roi = None
self.plane = None
# Video
self.video = Video()
def __creategroundplane(self):
print ''
print 'Creating world plane for ' + self.id
a = np.float32([[[0, 0, 0]]])
for jj in xrange(0, 100, 1):
for ii in xrange(0, 100, 1):
b = np.float32([[[ii - 50, jj - 50, 0]]])
a = np.r_[a, b]
self.plane = a[1:10001]
def __formatintrinsics(self, intrinsics):
m_str = '%s %s %s; %s %s %s; %s %s %s'\
% (intrinsics[0], intrinsics[1], intrinsics[2],
intrinsics[3], intrinsics[4], intrinsics[5],
intrinsics[6], intrinsics[7], intrinsics[8])
self.intrinsics = np.matrix(m_str)
def __formatrotation(self, rotation):
m_str = '%s %s %s; %s %s %s; %s %s %s'\
% (rotation[0], rotation[1], rotation[2],
rotation[3], rotation[4], rotation[5],
rotation[6], rotation[7], rotation[8])
self.rotation = np.matrix(m_str)
def __formattranslation(self, translation):
m_str = '%s; %s; %s'\
% (translation[0], translation[1], translation[2])
self.translation = np.matrix(m_str)
def readconfigfile(self, config_file):
c = cp.ConfigParser()
c.read(config_file)
self.id = c.get('CameraInfo', 'id')
self.model = c.get('CameraInfo', 'model')
intrinsics = c.get('CameraParameters', 'intrinsics').split()
rotation = c.get('CameraParameters', 'rotation').split()
translation = c.get('CameraParameters', 'translation').split()
self.__formatintrinsics(intrinsics)
self.__formatrotation(rotation)
self.__formattranslation(translation)
self.__creategroundplane()
self.initcameracalibration()
def printcamerainfo(self):
print ''
print 'Printing Camera Object Variables'
print ''
print '* Camera Info *'
print 'id: %s\n%s' % (self.id, type(self.id))
print 'model: %s\n%s' % (self.model, type(self.model))
print ''
print '* Camera Parameters *'
print 'intrinsics:\n%s\n%s' % (self.intrinsics, type(self.intrinsics))
print 'rotation:\n%s\n%s' % (self.rotation, type(self.rotation))
print 'translation:\n%s\n%s' % (self.translation, type(
self.translation))
print 'homography: \n%s\n%s' % (self.homography, type(self.homography))
print 'inverse homography: \n%s\n%s' % (self.inverse_homography,
type(self.inverse_homography))
print ''
self.video.printvideoinfo()
def initcameracalibration(self):
self.__getoptimalcameramatrix()
self.__initretroprojection()
self.__gethomography()
def __getoptimalcameramatrix(self):
w = int(self.video.width)
h = int(self.video.height)
# http://code.opencv.org/issues/1718
self.optimalcameramatrix, self.roi = \
cv2.getOptimalNewCameraMatrix(
self.intrinsics, np.float64([0, 0, 0, 0]), (w, h), 1, (w, h))
def __gethomography(self):
r = self.rotation
t = self.translation
h = np.array([[r[0, 0], r[0, 1], t[0]], [r[1, 0], r[1, 1], t[1]],
[r[2, 0], r[2, 1], t[2]]])
self.homography = h / t[2]
self.inverse_homography = np.linalg.inv(self.homography)
def __initretroprojection(self):
# http://bit.ly/opencv2d3d
r_mat = self.rotation
t_mat = self.translation
self.rt = r_mat * t_mat
def undistortimage(self, ret, src):
dst = cv2.undistort(src, self.intrinsics, None, None,
self.optimalcameramatrix)
x, y, w, h = self.roi
#return ret, dst[y:y + h, x:x + w]
return ret, dst
def getundistortedframe(self):
ret, frame = self.video.getframe()
return self.undistortimage(ret, frame)