def plotCameraRig(baselines, fno=1, clearFigure=True, title=""):
f = pl.figure(fno)
if clearFigure:
f.clf()
f.suptitle(title)
#convet DVs to trafo
temp = list()
for baseline in baselines:
temp.append(sm.Transformation(baseline.T()))
baselines = temp
#convert baselines to camera frames in coords of first camera
camera_frames = list()
camera_frames.append(sm.Transformation()) #first cam
for bidx, baseline in enumerate(baselines):
camera_frames.append(camera_frames[bidx] * baseline.inverse())
#get the of the coord system (half the shortest baseline)
sizes = list()
for baseline in baselines:
sizes.append(np.linalg.norm(baseline.t()))
size = 0.5 * np.min(sizes)
#plot each frame in coordinates of first camera
a3d = f.add_subplot(111, projection='3d')
for camera_frame in camera_frames:
sm.plotCoordinateFrame(a3d, camera_frame.T(), size=size)
#axis equal
box_sizes = list()
for camera_frame in camera_frames:
box_sizes.append(np.linalg.norm(camera_frame.t()))
box_size = 1.25 * np.max(box_sizes) + size
a3d.auto_scale_xyz([-box_size, box_size], [-box_size, box_size],
[-box_size, box_size])
def plotCameraRig(baselines, fno=1, clearFigure=True, title=""):
f = pl.figure(fno)
if clearFigure:
f.clf()
f.suptitle(title)
#convet DVs to trafo
temp=list()
for baseline in baselines:
temp.append(sm.Transformation(baseline.T()))
baselines=temp
#convert baselines to camera frames in coords of first camera
camera_frames=list()
camera_frames.append(sm.Transformation()) #first cam
for bidx, baseline in enumerate(baselines):
camera_frames.append( camera_frames[bidx]*baseline.inverse() )
#get the of the coord system (half the shortest baseline)
sizes=list()
for baseline in baselines:
sizes.append( np.linalg.norm(baseline.t()) )
size=0.5*np.min(sizes)
#plot each frame in coordinates of first camera
a3d = f.add_subplot(111, projection='3d')
for camera_frame in camera_frames:
sm.plotCoordinateFrame(a3d, camera_frame.T(), size=size)
#axis equal
box_sizes=list()
for camera_frame in camera_frames:
box_sizes.append( np.linalg.norm(camera_frame.t()) )
box_size=1.25*np.max(box_sizes)+size
a3d.auto_scale_xyz([-box_size, box_size], [-box_size, box_size], [-box_size, box_size])