Пример #1
0
def loadCalibration(dir="calib"):
    filenames = ("CM1.txt", "CM2.txt", "D1.txt", "D2.txt", "R.txt", "T.txt", "E.txt", "F.txt")
    for fn in ["{0}/{1}".format(dir, f) for f in filenames]:
        errors.checkexists(fn)
    CM1 = cv.Load("{0}/{1}".format(dir, filenames[0]))
    CM2 = cv.Load("{0}/{1}".format(dir, filenames[1]))
    D1 = cv.Load("{0}/{1}".format(dir, filenames[2]))
    D2 = cv.Load("{0}/{1}".format(dir, filenames[3]))
    R = cv.Load("{0}/{1}".format(dir, filenames[4]))
    T = cv.Load("{0}/{1}".format(dir, filenames[5]))
    E = cv.Load("{0}/{1}".format(dir, filenames[6]))
    F = cv.Load("{0}/{1}".format(dir, filenames[7]))
    print "Calibration files loaded from dir '{0}'.".format(dir)
    return (CM1, CM2, D1, D2, R, T, E, F)
Пример #2
0
def saveCalibration(cal, cdir="calib"):
    filenames = ("CM1.txt", "CM2.txt", "D1.txt", "D2.txt", "R.txt", "T.txt", "E.txt", "F.txt")
    errors.checkexists(cdir, True)
    assert len(filenames) == 8
    (CM1, CM2, D1, D2, R, T, E, F) = cal
    cv.Save("{0}/{1}".format(cdir, filenames[0]), CM1)
    cv.Save("{0}/{1}".format(cdir, filenames[1]), CM2)
    cv.Save("{0}/{1}".format(cdir, filenames[2]), D1)
    cv.Save("{0}/{1}".format(cdir, filenames[3]), D2)
    cv.Save("{0}/{1}".format(cdir, filenames[4]), R)
    cv.Save("{0}/{1}".format(cdir, filenames[5]), T)
    cv.Save("{0}/{1}".format(cdir, filenames[6]), E)
    cv.Save("{0}/{1}".format(cdir, filenames[7]), F)
    print "Calibration parameters written to directory '{0}'.".format(cdir)
Пример #3
0
def loadRectif(dir="rect"):
  filenames = ("R1.txt", "R2.txt", "P1.txt", "P2.txt", "Q.txt", "ROI.txt")
  for fn in ["{0}/{1}".format(dir, f) for f in filenames]:
    errors.checkexists(fn)
  R1 = cv.Load("{0}/{1}".format(dir, filenames[0]))
  R2 = cv.Load("{0}/{1}".format(dir, filenames[1]))
  P1 = cv.Load("{0}/{1}".format(dir, filenames[2]))
  P2 = cv.Load("{0}/{1}".format(dir, filenames[3]))
  Q = cv.Load("{0}/{1}".format(dir, filenames[4]))

  f  = open("{0}/{1}".format(dir, filenames[5]))
  roi = tuple([int(x) for x in f.readline().split()])

  print "Rectification parameters loaded from dir '{0}'.".format(dir)
  return (R1, R2, P1, P2, Q, roi)
Пример #4
0
def saveRectif(rect, dir="rect"):
  filenames = ("R1.txt", "R2.txt", "P1.txt", "P2.txt", "Q.txt", "ROI.txt")
  errors.checkexists(dir, True)
  (R1, R2, P1, P2, Q, roi) = rect

  cv.Save("{0}/{1}".format(dir, filenames[0]), R1)
  cv.Save("{0}/{1}".format(dir, filenames[1]), R2)
  cv.Save("{0}/{1}".format(dir, filenames[2]), P1)
  cv.Save("{0}/{1}".format(dir, filenames[3]), P1)
  cv.Save("{0}/{1}".format(dir, filenames[4]), Q)

  f = open("{0}/{1}".format(dir, filenames[5]), 'w')
  f.write("{0}\n".format(' '.join([str(c) for c in roi])))
  f.close()

  print "Rectification parameters written to directory '{0}'.".format(dir)
Пример #5
0
def getChessboards(n, fname="chessboards.txt"):
  """
  Load chessboard point coordinates from file.

  n - number of boards to load from file
  fname - filename of file to load coordinates from
  """
  p1 = cv.CreateMat(1, n * COLS * ROWS, cv.CV_64FC2)
  p2 = cv.CreateMat(1, n * COLS * ROWS, cv.CV_64FC2)

  errors.checkexists(fname)
  f = open(fname, 'r')
  lr = 0
  for j in range(n):
    for i in range(COLS * ROWS):
      c1 = f.readline()
      c2 = f.readline()
      c1 = c1.split()
      c2 = c2.split()

      cv.Set1D(p1, j * COLS * ROWS + i, cv.Scalar(float(c1[0]), float(c1[1])))
      cv.Set1D(p2, j * COLS * ROWS + i, cv.Scalar(float(c2[0]), float(c2[1])))
    f.readline()
  return (p1, p2)