def loadCalibration(dir="calib"):
filenames = ("CM1.txt", "CM2.txt", "D1.txt", "D2.txt", "R.txt", "T.txt", "E.txt", "F.txt")
for fn in ["{0}/{1}".format(dir, f) for f in filenames]:
errors.checkexists(fn)
CM1 = cv.Load("{0}/{1}".format(dir, filenames[0]))
CM2 = cv.Load("{0}/{1}".format(dir, filenames[1]))
D1 = cv.Load("{0}/{1}".format(dir, filenames[2]))
D2 = cv.Load("{0}/{1}".format(dir, filenames[3]))
R = cv.Load("{0}/{1}".format(dir, filenames[4]))
T = cv.Load("{0}/{1}".format(dir, filenames[5]))
E = cv.Load("{0}/{1}".format(dir, filenames[6]))
F = cv.Load("{0}/{1}".format(dir, filenames[7]))
print "Calibration files loaded from dir '{0}'.".format(dir)
return (CM1, CM2, D1, D2, R, T, E, F)
def saveCalibration(cal, cdir="calib"):
filenames = ("CM1.txt", "CM2.txt", "D1.txt", "D2.txt", "R.txt", "T.txt", "E.txt", "F.txt")
errors.checkexists(cdir, True)
assert len(filenames) == 8
(CM1, CM2, D1, D2, R, T, E, F) = cal
cv.Save("{0}/{1}".format(cdir, filenames[0]), CM1)
cv.Save("{0}/{1}".format(cdir, filenames[1]), CM2)
cv.Save("{0}/{1}".format(cdir, filenames[2]), D1)
cv.Save("{0}/{1}".format(cdir, filenames[3]), D2)
cv.Save("{0}/{1}".format(cdir, filenames[4]), R)
cv.Save("{0}/{1}".format(cdir, filenames[5]), T)
cv.Save("{0}/{1}".format(cdir, filenames[6]), E)
cv.Save("{0}/{1}".format(cdir, filenames[7]), F)
print "Calibration parameters written to directory '{0}'.".format(cdir)
def loadRectif(dir="rect"):
filenames = ("R1.txt", "R2.txt", "P1.txt", "P2.txt", "Q.txt", "ROI.txt")
for fn in ["{0}/{1}".format(dir, f) for f in filenames]:
errors.checkexists(fn)
R1 = cv.Load("{0}/{1}".format(dir, filenames[0]))
R2 = cv.Load("{0}/{1}".format(dir, filenames[1]))
P1 = cv.Load("{0}/{1}".format(dir, filenames[2]))
P2 = cv.Load("{0}/{1}".format(dir, filenames[3]))
Q = cv.Load("{0}/{1}".format(dir, filenames[4]))
f = open("{0}/{1}".format(dir, filenames[5]))
roi = tuple([int(x) for x in f.readline().split()])
print "Rectification parameters loaded from dir '{0}'.".format(dir)
return (R1, R2, P1, P2, Q, roi)
def saveRectif(rect, dir="rect"):
filenames = ("R1.txt", "R2.txt", "P1.txt", "P2.txt", "Q.txt", "ROI.txt")
errors.checkexists(dir, True)
(R1, R2, P1, P2, Q, roi) = rect
cv.Save("{0}/{1}".format(dir, filenames[0]), R1)
cv.Save("{0}/{1}".format(dir, filenames[1]), R2)
cv.Save("{0}/{1}".format(dir, filenames[2]), P1)
cv.Save("{0}/{1}".format(dir, filenames[3]), P1)
cv.Save("{0}/{1}".format(dir, filenames[4]), Q)
f = open("{0}/{1}".format(dir, filenames[5]), 'w')
f.write("{0}\n".format(' '.join([str(c) for c in roi])))
f.close()
print "Rectification parameters written to directory '{0}'.".format(dir)
def getChessboards(n, fname="chessboards.txt"):
"""
Load chessboard point coordinates from file.
n - number of boards to load from file
fname - filename of file to load coordinates from
"""
p1 = cv.CreateMat(1, n * COLS * ROWS, cv.CV_64FC2)
p2 = cv.CreateMat(1, n * COLS * ROWS, cv.CV_64FC2)
errors.checkexists(fname)
f = open(fname, 'r')
lr = 0
for j in range(n):
for i in range(COLS * ROWS):
c1 = f.readline()
c2 = f.readline()
c1 = c1.split()
c2 = c2.split()
cv.Set1D(p1, j * COLS * ROWS + i, cv.Scalar(float(c1[0]), float(c1[1])))
cv.Set1D(p2, j * COLS * ROWS + i, cv.Scalar(float(c2[0]), float(c2[1])))
f.readline()
return (p1, p2)
