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)