def check_extrinsic_msg(cam_opts):
"""check that ROS message contains actual camera extrinsic parameters"""
cam_opts = cam_opts.copy()
cam_opts['get_input_data']=True
r = _build_test_camera(**cam_opts)
cam = r['cam']
tfm = cam.get_extrinsics_as_bunch()
if 'translation' in r:
assert np.allclose(point_msg_to_tuple(tfm.translation), point_msg_to_tuple(r['translation']))
if 'rotation' in r:
assert np.allclose(parse_rotation_msg(tfm.rotation,force_matrix=True),
parse_rotation_msg(r['rotation'],force_matrix=True))
def _build_test_camera(**kwargs):
o = Bunch(**kwargs)
if not kwargs.get('at_origin',False):
translation = geometry_msgs.msg.Point()
translation.x = 0.273485679077
translation.y = 0.0707310128808
translation.z = 0.0877802104531
rotation = geometry_msgs.msg.Quaternion()
rotation.x = 0.309377331102
rotation.y = 0.600893485738
rotation.z = 0.644637681813
rotation.w = 0.357288321925
else:
translation = geometry_msgs.msg.Point()
translation.x = 0.0
translation.y = 0.0
translation.z = 0.0
rotation = geometry_msgs.msg.Quaternion()
rotation.x = 0.0
rotation.y = 0.0
rotation.z = 0.0
rotation.w = 1.0
if 'from_file' in kwargs:
if kwargs['type']=='ros':
cam = CameraModel.load_camera_from_file( fname=kwargs['filename'],
extrinsics_required=False )
i = cam.get_intrinsics_as_bunch()
cam = CameraModel._from_parts(
translation=point_msg_to_tuple(translation),
rotation=parse_rotation_msg(rotation),
intrinsics=i,
name='cam',
)
elif kwargs['type']=='pymvg':
del translation
del rotation
system = MultiCameraSystem.from_pymvg_file(fname=kwargs['filename'])
names = system.get_names()
names.sort()
name = names[0] # get first camera from system
cam = system._cameras[name]
rotation = cam.get_extrinsics_as_bunch().rotation
translation = cam.get_extrinsics_as_bunch().translation
else:
raise ValueError('unknown file type')
else:
if o.ROS_test_data:
i = sensor_msgs.msg.CameraInfo()
# these are from image_geometry ROS package in the utest.cpp file
i.height = 480
i.width = 640
i.distortion_model = 'plumb_bob'
i.D = [-0.363528858080088, 0.16117037733986861, -8.1109585007538829e-05, -0.00044776712298447841, 0.0]
i.K = [430.15433020105519, 0.0, 311.71339830549732,
0.0, 430.60920415473657, 221.06824942698509,
0.0, 0.0, 1.0]
i.R = [0.99806560714807102, 0.0068562422224214027, 0.061790256276695904,
-0.0067522959054715113, 0.99997541519165112, -0.0018909025066874664,
-0.061801701660692349, 0.0014700186639396652, 0.99808736527268516]
i.P = [295.53402059708782, 0.0, 285.55760765075684, 0.0,
0.0, 295.53402059708782, 223.29617881774902, 0.0,
0.0, 0.0, 1.0, 0.0]
else:
i = sensor_msgs.msg.CameraInfo()
i.height = 494
i.width = 659
i.distortion_model = 'plumb_bob'
i.D = [-0.34146457767225, 0.196070795764995, 0.000548988393912233, 0.000657058395082583, -0.0828776806503243]
i.K = [516.881868241566, 0.0, 333.090936517613, 0.0, 517.201263180996, 231.526036849886, 0.0, 0.0, 1.0]
i.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
i.P = [442.17529296875, 0.0, 334.589001099812, 0.0, 0.0, 474.757141113281, 228.646131377705, 0.0, 0.0, 0.0, 1.0, 0.0]
cam = CameraModel._from_parts(
translation=point_msg_to_tuple(translation),
rotation=parse_rotation_msg(rotation),
intrinsics=i,
name='cam',
)
if kwargs.get('flipped',False):
cam = cam.get_flipped_camera()
if kwargs.get('get_input_data',False):
return dict(cam=cam,
translation=translation,
rotation=rotation,
)
return cam
def _build_test_camera(**kwargs):
o = Bunch(**kwargs)
if not kwargs.get('at_origin',False):
translation = geometry_msgs.msg.Point()
translation.x = 0.273485679077
translation.y = 0.0707310128808
translation.z = 0.0877802104531
rotation = geometry_msgs.msg.Quaternion()
rotation.x = 0.309377331102
rotation.y = 0.600893485738
rotation.z = 0.644637681813
rotation.w = 0.357288321925
else:
translation = geometry_msgs.msg.Point()
translation.x = 0.0
translation.y = 0.0
translation.z = 0.0
rotation = geometry_msgs.msg.Quaternion()
rotation.x = 0.0
rotation.y = 0.0
rotation.z = 0.0
rotation.w = 1.0
if 'from_file' in kwargs:
if kwargs['type']=='ros':
cam = CameraModel.load_camera_from_file( fname=kwargs['filename'],
extrinsics_required=False )
i = cam.get_intrinsics_as_bunch()
cam = CameraModel._from_parts(
translation=point_msg_to_tuple(translation),
rotation=parse_rotation_msg(rotation),
intrinsics=i,
name='cam',
)
elif kwargs['type']=='pymvg':
del translation
del rotation
system = MultiCameraSystem.from_pymvg_file(fname=kwargs['filename'])
names = system.get_names()
names.sort()
name = names[0] # get first camera from system
cam = system._cameras[name]
rotation = cam.get_extrinsics_as_bunch().rotation
translation = cam.get_extrinsics_as_bunch().translation
else:
raise ValueError('unknown file type')
else:
if o.ROS_test_data:
i = sensor_msgs.msg.CameraInfo()
# these are from image_geometry ROS package in the utest.cpp file
i.height = 480
i.width = 640
i.distortion_model = 'plumb_bob'
i.D = [-0.363528858080088, 0.16117037733986861, -8.1109585007538829e-05, -0.00044776712298447841, 0.0]
i.K = [430.15433020105519, 0.0, 311.71339830549732,
0.0, 430.60920415473657, 221.06824942698509,
0.0, 0.0, 1.0]
i.R = [0.99806560714807102, 0.0068562422224214027, 0.061790256276695904,
-0.0067522959054715113, 0.99997541519165112, -0.0018909025066874664,
-0.061801701660692349, 0.0014700186639396652, 0.99808736527268516]
i.P = [295.53402059708782, 0.0, 285.55760765075684, 0.0,
0.0, 295.53402059708782, 223.29617881774902, 0.0,
0.0, 0.0, 1.0, 0.0]
else:
i = sensor_msgs.msg.CameraInfo()
i.height = 494
i.width = 659
i.distortion_model = 'plumb_bob'
i.D = [-0.34146457767225, 0.196070795764995, 0.000548988393912233, 0.000657058395082583, -0.0828776806503243]
i.K = [516.881868241566, 0.0, 333.090936517613, 0.0, 517.201263180996, 231.526036849886, 0.0, 0.0, 1.0]
i.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
i.P = [442.17529296875, 0.0, 334.589001099812, 0.0, 0.0, 474.757141113281, 228.646131377705, 0.0, 0.0, 0.0, 1.0, 0.0]
cam = CameraModel._from_parts(
translation=point_msg_to_tuple(translation),
rotation=parse_rotation_msg(rotation),
intrinsics=i,
name='cam',
)
if kwargs.get('flipped',False):
cam = cam.get_flipped_camera()
if kwargs.get('get_input_data',False):
return dict(cam=cam,
translation=translation,
rotation=rotation,
)
return cam
def load_camera_from_opened_bagfile( cls, bag, extrinsics_required=True ): # pragma: no cover
"""factory function for class CameraModel
arguments
---------
bag - an opened rosbag.Bag instance
extrinsics_required - are extrinsic parameters required
"""
camera_name = None
translation = None
rotation = None
intrinsics = None
for topic, msg, t in bag.read_messages():
if 1:
parts = topic.split('/')
if parts[0]=='':
parts = parts[1:]
topic = parts[-1]
parts = parts[:-1]
if len(parts)>1:
this_camera_name = '/'.join(parts)
else:
this_camera_name = parts[0]
# empty, this_camera_name, topic = parts
# assert empty==''
if camera_name is None:
camera_name = this_camera_name
else:
assert this_camera_name == camera_name
if topic == 'tf':
translation = msg.translation
rotation = msg.rotation # quaternion
elif topic == 'matrix_tf':
translation = msg.translation
rotation = msg.rotation # matrix
elif topic == 'camera_info':
intrinsics = msg
else:
warnings.warn('skipping message topic %r'%topic)
continue
bag.close()
if translation is None or rotation is None:
if extrinsics_required:
raise ValueError('no extrinsic parameters in bag file')
else:
translation = (np.nan, np.nan, np.nan)
rotation = (np.nan, np.nan, np.nan, np.nan)
else:
translation = point_msg_to_tuple(translation)
rotation = parse_rotation_msg(rotation)
if intrinsics is None:
raise ValueError('no intrinsic parameters in bag file')
result = cls._from_parts(translation=translation,
rotation=rotation,
intrinsics=intrinsics,
name=camera_name,
)
return result