def calc_mean_reproj_error(self,msg):
ros_cam = CameraModel._from_parts(intrinsics=msg)
all_ims = []
for imd in self.db:
ros_pix = ros_cam.project_3d_to_pixel(imd['cc'], distorted=True)
d = (ros_pix-imd['pix'])**2
drows = np.sqrt(np.sum(d, axis=1))
mean_d = np.mean(drows)
all_ims.append(mean_d)
mean_err = np.mean(all_ims)
return mean_err
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
