def setupStitch(self):
options = pano.Options()
options.camera = self.camera
options.stitch_size = pcv.Size(4000,2000)
#options.image_names.assign(image_names)
params = options.fitter_params
params.error_thresh = 6;
params.inliers_thresh = 15;
params.maxiters = 100;
params.nNeeded = 2;
self.stitcher = pano.StitchEngine(options)
def stitch(self):
bag = rosbag.Bag(self.bag_name)
saved_camera_info = False
img_n = 0
pano_dir = tempfile.mkdtemp("pano")
image_names = []
camera = pano.Camera()
blur_detector = pano.BlurDetector()
for topic, msg, t in bag.read_messages(topics=['camera_info']):
if ('camera_info' in topic):
print "reading camera info"
K = pcv.Mat(3, 3, pcv.CV_32FC1)
K.fromarray(msg.K)
img_size = pcv.Size(msg.width, msg.height)
camera.setCameraIntrinsics(K, pcv.Mat(), img_size)
break
options = pano.Options()
options.camera = camera
options.stitch_size = pcv.Size(4000, 2000)
options.directory = pano_dir
#options.image_names.assign(image_names)
params = options.fitter_params
params.error_thresh = 6
params.inliers_thresh = 15
params.maxiters = 100
params.nNeeded = 2
options.stitch_output = self.stitch_file_name
stitcher = pano.StitchEngine(options)
for topic, msg, t in bag.read_messages(topics=['image']):
if ('image' in topic):
try:
cv_image = self.bridge.imgmsg_to_cv(msg, "rgb8")
b_prob = blur_detector.checkBlur(cv_image)
print "image blur prob = %f" % b_prob
pano_image = pcv.convertCvMat2Mat(cv_image)
stitcher.addNewImage(pano_image)
img_n += 1
except CvBridgeError, e:
print e