def showCalib(K,image,dg=5,col=(128,128,128)):
HEIGHT, WIDTH = image.shape[:2]
cv.line(image,(0,HEIGHT//2),(WIDTH,HEIGHT//2),col,1,lineType)
cv.line(image,(WIDTH//2,0),(WIDTH//2,HEIGHT),col,1,lineType)
AW = WIDTH*1//100
for ang in range(-45,46,dg):
x,_ = htrans(K,row(np.sin(ang*np.pi/180),0))[0].astype(int)
x += HEIGHT//2 - WIDTH//2
cv.line(image,(WIDTH//2-AW,x),(WIDTH//2+AW,x),col,1,lineType)
x += -HEIGHT//2 + WIDTH//2
cv.line(image,(x,HEIGHT//2-AW),(x,HEIGHT//2+AW),col,1,lineType)
def cameraOutline2(M, sc = 0.3):
K,R,C = sepcam(M)
# formamos una transformación 3D para mover la cámara en el origen a la posición de M
rt = jr(jc(R, -R @ col(C)),
row(0,0,0,1))
x = 1;
y = x;
z = 0.99;
ps =[x, 0, z,
(-x), 0, z,
0, 0, z,
0, 1.3*y,z,
0, (-y), z,
x, (-y), z,
x, y, z,
(-x), y, z,
(-x), (-y), z,
x, (-y), z,
x, y, z,
0, y, z,
0, 0, z,
0, 0, 0,
1, 1, z,
0, 0, 0,
(-1), 1, z,
0, 0, 0,
(-1), (-1), z,
0, 0, 0,
(1), (-1), z,
0, 0, 0,
0, 0, (2*x)]
ps = np.array(ps).reshape(-1,3)
return htrans(la.inv(rt), sc * ps)
def cameraTransf(M):
K, R, C = sepcam(M)
rt = jr(jc(R, -R @ col(C)), row(0, 0, 0, 1))
return la.inv(rt)
def cameraTransf(p):
return jr(jc(p.R, col(p.t)), row(0, 0, 0, 1))
def cameraTransf2(M):
K, R, C = sepcam(M)
rt = jr(jc(R, -R @ col(C)), row(0, 0, 0, 1))
return rt