def __init__(self, flydra_calib, laser_pkl, undistort_flydra_points, visualize): self.flydra_calib = flydra_calib self.laser_pkl = laser_pkl self.undistort_flydra_points = undistort_flydra_points self.visualize = visualize # make sure the flydra cameras have associated calibration information. We might # not actually use the undistorted points (depends on the --undistort argument) name_map = MultiCalSelfCam.get_camera_names_map(self.flydra_calib) for c in MultiCalSelfCam.read_calibration_names(self.flydra_calib): camera_calibration_yaml_to_radfile( decode_url("package://flycave/calibration/cameras/%s.yaml" % c), os.path.join(self.flydra_calib, name_map[c]), ) # publish the camera positions and the inlier set from the flydra calibraion MultiCalSelfCam.publish_calibration_points(self.flydra_calib, topic_base="/flydra") print "*" * 80 print "loaded original calibration from", self.flydra_calib print "*" * 80 self.fly = flydra.reconstruct.Reconstructor(cal_source=self.flydra_calib) self.laser = AllPointPickle() # load default laser points self.load_laser_points()
def __init__(self, flydra_calib, laser_pkl, undistort_flydra_points, visualize): self.flydra_calib = flydra_calib self.laser_pkl = laser_pkl self.undistort_flydra_points = undistort_flydra_points self.visualize = visualize #make sure the flydra cameras have associated calibration information. We might #not actually use the undistorted points (depends on the --undistort argument) name_map = MultiCalSelfCam.get_camera_names_map(self.flydra_calib) for c in MultiCalSelfCam.read_calibration_names(self.flydra_calib): camera_calibration_yaml_to_radfile( decode_url('package://flycave/calibration/cameras/%s.yaml' % c), os.path.join(self.flydra_calib,name_map[c])) #publish the camera positions and the inlier set from the flydra calibraion MultiCalSelfCam.publish_calibration_points(self.flydra_calib, topic_base='/flydra') print '*'*80 print 'loaded original calibration from', self.flydra_calib print '*'*80 self.fly = flydra.reconstruct.Reconstructor(cal_source=self.flydra_calib) self.laser = AllPointPickle() #load default laser points self.load_laser_points()
def test_formats(): urlyaml = io.decode_url('package://motmot_ros_utils/tests/Basler_21029383.yaml') urlrad = io.decode_url('package://motmot_ros_utils/tests/Basler_21029383.rad') rad = '/tmp/test.rad' formats.camera_calibration_yaml_to_radfile(urlyaml, rad) assert open(urlrad,'r').read() == open(rad,'r').read()