def save_roi(camera_info, output_file):
"""Save roi
save as [xmin, xmax, ymin, ymax] order
cm.roi is [top, left, bottom, right]
"""
cm = PinholeCameraModel.from_camera_info(camera_info)
ymin, xmin, ymax, xmax = cm.roi
clip_info = np.array([xmin, xmax, ymin, ymax])
np.save(output_file, clip_info)
def load_camera_info(self):
rospy.loginfo('loading camera model')
self.camera_info = rospy.wait_for_message(
self.camera_info_msg, CameraInfo)
# self.camera_model.fromCameraInfo(self.camera_info)
self.camera_model = PinholeCameraModel.from_camera_info(self.camera_info)
# self.intrinsic = o3d.camera.PinholeCameraIntrinsic()
# self.intrinsic.set_intrinsics(
# self.camera_model.width,
# self.camera_model.height,
# self.camera_model.fx(),
# self.camera_model.fy(),
# self.camera_model.cx(),
# self.camera_model.cy())
#print(self.camera_model.width)
print('load camera model')
def save_camera_info(camera_info, output_file):
cm = PinholeCameraModel.from_camera_info(camera_info)
cm.dump(output_file)