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()
