def get_P_rect(self, scene_data, calibs, get_2cam_dict=True):
# calib_file = scene_data['dir'].parent/'calib_cam_to_cam.txt'
calib_file = scene_data['dir']/'calib.txt'
if get_2cam_dict:
P_rect = {}
for cid in ['00', '01', '02', '03']:
P_rect[cid], _ = self.read_odo_calib_file(calib_file, cid=self.cid_to_num[cid])
if calibs['rescale']:
P_rect[cid] = scale_P(P_rect[cid], calibs['zoom_xy'][0], calibs['zoom_xy'][1])
return P_rect
else:
P_rect, _ = self.read_odo_calib_file(calib_file, cid=self.cid_to_num[cid])
if calibs['rescale']:
P_rect = scale_P(P_rect, calibs['zoom_xy'][0], calibs['zoom_xy'][1])
return P_rect
def get_P_rect(self, calib_file, calibs):
# width, height = calib_data['resolution']
# cam_info.distortion_model = 'plumb_bob'
# D = np.array(calib_data['distortion_coefficients'])
# cam_info.R = [1, 0, 0, 0, 1, 0, 0, 0, 1]
calib_data = loadConfig(calib_file)
fu, fv, cu, cv = (
calib_data["Camera.fx"],
calib_data["Camera.fy"],
calib_data["Camera.cx"],
calib_data["Camera.cy"],
)
K = np.array([[fu, 0, cu], [0, fv, cv], [0, 0, 1]])
P_rect_ori = np.concatenate((K, [[0], [0], [0]]), axis=1)
# rescale the camera matrix
if calibs["rescale"]:
P_rect_scale = scale_P(
P_rect_ori, calibs["zoom_xy"][0], calibs["zoom_xy"][1]
)
else:
P_rect_scale = P_rect_ori
return P_rect_ori, P_rect_scale
def get_P_rect(self, scene_data, calibs, get_2cam_dict=True):
# calib_file = scene_data['dir'].parent/'calib_cam_to_cam.txt'
calib_file = scene_data["dir"] / "calib.txt"
if get_2cam_dict:
P_rect = {}
for cid in ["00", "01", "02", "03"]:
P_rect[cid], _ = read_odo_calib_file(
calib_file, cid=self.cid_to_num[cid]
)
if calibs["rescale"]:
P_rect[cid] = scale_P(
P_rect[cid], calibs["zoom_xy"][0], calibs["zoom_xy"][1]
)
return P_rect
else:
P_rect, _ = read_odo_calib_file(calib_file, cid=self.cid_to_num[cid])
if calibs["rescale"]:
P_rect = scale_P(P_rect, calibs["zoom_xy"][0], calibs["zoom_xy"][1])
return P_rect
def get_P_rect(self, calib_file, calibs):
# calib_file = scene_data['dir'].parent/'calib_cam_to_cam.txt'
calib_data = loadConfig(calib_file)
height, width, K, D = load_intrinsics(calib_data)
transformation_base_camera = load_extrinsics(calib_data)
P_rect = np.concatenate((K, [[0], [0], [0]]), axis=1)
if calibs["rescale"]:
P_rect = scale_P(P_rect, calibs["zoom_xy"][0],
calibs["zoom_xy"][1])
return P_rect, transformation_base_camera