def __init__(self, g_pool):
super(Show_Calibration, self).__init__(g_pool)
self.menu = None
try:
width, height = self.g_pool.capture.frame_size
except AttributeError:
logger.warning("Works only with real capture")
self.close()
return
if g_pool.app == 'capture':
cal_pt_path = os.path.join(g_pool.user_dir, "cal_pt_cloud.npy")
else:
# cal_pt_path = os.path.join(g_pool.rec_dir,"cal_pt_cloud.npy")
logger.error('Plugin only works in capture.')
self.close()
return
try:
cal_pt_cloud = np.load(cal_pt_path)
except:
logger.warning("Please calibrate first")
self.close()
return
map_fn, inlier_map = get_map_from_cloud(cal_pt_cloud, (width, height),
return_inlier_map=True)
cal_pt_cloud[:, 0:2] = np.array(
map_fn(cal_pt_cloud[:, 0:2].transpose())).transpose()
ref_pts = cal_pt_cloud[inlier_map][:, np.newaxis, 2:4]
ref_pts = np.array(ref_pts, dtype=np.float32)
logger.debug("calibration ref_pts %s" % ref_pts)
if len(ref_pts) == 0:
logger.warning("Calibration is bad. Please re-calibrate")
self.close()
return
self.calib_bounds = cv2.convexHull(ref_pts)
# create a list [[px1,py1],[wx1,wy1],[px2,py2],[wx2,wy2]...] of outliers and inliers for gl_lines
self.outliers = np.concatenate(
(cal_pt_cloud[~inlier_map][:, 0:2],
cal_pt_cloud[~inlier_map][:, 2:4])).reshape(-1, 2)
self.inliers = np.concatenate(
(cal_pt_cloud[inlier_map][:, 0:2], cal_pt_cloud[inlier_map][:,
2:4]),
axis=1).reshape(-1, 2)
self.inlier_ratio = cal_pt_cloud[inlier_map].shape[0] / float(
cal_pt_cloud.shape[0])
self.inlier_count = cal_pt_cloud[inlier_map].shape[0]
# hull = cv2.approxPolyDP(self.calib_bounds, 0.001,closed=True)
full_screen_area = 1.
logger.debug("calibration bounds %s" % self.calib_bounds)
self.calib_area_ratio = cv2.contourArea(
self.calib_bounds) / full_screen_area
def __init__(self,g_pool):
super(Show_Calibration, self).__init__(g_pool)
self.menu=None
width,height = self.g_pool.capture.frame_size
if g_pool.app == 'capture':
cal_pt_path = os.path.join(g_pool.user_dir,"cal_pt_cloud.npy")
else:
cal_pt_path = os.path.join(g_pool.rec_dir,"cal_pt_cloud.npy")
try:
cal_pt_cloud = np.load(cal_pt_path)
except:
logger.warning("Please calibrate first")
self.close()
return
map_fn,inlier_map = get_map_from_cloud(cal_pt_cloud,(width, height),return_inlier_map=True, binocular=self.g_pool.binocular)
if self.g_pool.binocular:
fn_input_eye0 = cal_pt_cloud[:,0:2].transpose()
fn_input_eye1 = cal_pt_cloud[:,2:4].transpose()
cal_pt_cloud[:,0:2] = np.array(map_fn(fn_input_eye0, fn_input_eye1)).transpose()
cal_pt_cloud[:,2:4] = cal_pt_cloud[:,4:6]
else:
fn_input = cal_pt_cloud[:,0:2].transpose()
cal_pt_cloud[:,0:2] = np.array(map_fn(fn_input)).transpose()
ref_pts = cal_pt_cloud[inlier_map][:,np.newaxis,2:4]
ref_pts = np.array(ref_pts,dtype=np.float32)
logger.debug("calibration ref_pts %s"%ref_pts)
if len(ref_pts)== 0:
logger.warning("Calibration is bad. Please re-calibrate")
self.close()
return
self.calib_bounds = cv2.convexHull(ref_pts)
# create a list [[px1,py1],[wx1,wy1],[px2,py2],[wx2,wy2]...] of outliers and inliers for gl_lines
self.outliers = np.concatenate((cal_pt_cloud[~inlier_map][:,0:2],cal_pt_cloud[~inlier_map][:,2:4])).reshape(-1,2)
self.inliers = np.concatenate((cal_pt_cloud[inlier_map][:,0:2],cal_pt_cloud[inlier_map][:,2:4]),axis=1).reshape(-1,2)
self.inlier_ratio = cal_pt_cloud[inlier_map].shape[0]/float(cal_pt_cloud.shape[0])
self.inlier_count = cal_pt_cloud[inlier_map].shape[0]
# hull = cv2.approxPolyDP(self.calib_bounds, 0.001,closed=True)
full_screen_area = 1.
logger.debug("calibration bounds %s"%self.calib_bounds)
self.calib_area_ratio = cv2.contourArea(self.calib_bounds)/full_screen_area
self.g_pool.gui.append(self.menu)
def deinit_gui(self):
if self.menu:
self.g_pool.gui.remove(self.menu)
def gl_display(self):
if self.inliers is not None:
draw_polyline_norm(self.inliers,1,RGBA(1.,.5,0.,.5),line_type=GL_LINES)
draw_polyline_norm(self.outliers,1,RGBA(1.,0.,0.,.5),line_type=GL_LINES)
draw_polyline_norm(self.calib_bounds[:,0],1,RGBA(.0,1.,0,.5),line_type=GL_LINE_LOOP)
def close(self):
self.alive = False
def cleanup(self):
self.deinit_gui()
if __name__ == '__main__':
cal_pt_cloud = np.load("cal_pt_cloud.npy")
map_fn,inlier_map = get_map_from_cloud(cal_pt_cloud,(1280,720),return_inlier_map=True)
# print cal_pt_cloud[inlier_map][:,0:2].shape
# print cal_pt_cloud[inlier_map][0,2:4]
inlier = np.concatenate((cal_pt_cloud[inlier_map][:,0:2],cal_pt_cloud[inlier_map][:,2:4]),axis=1)
print inlier
print inlier.reshape(-1,2)
draw_polyline_norm(self.inliers,
1,
RGBA(1., .5, 0., .5),
line_type=GL_LINES)
draw_polyline_norm(self.outliers,
1,
RGBA(1., 0., 0., .5),
line_type=GL_LINES)
draw_polyline_norm(self.calib_bounds[:, 0],
1,
RGBA(.0, 1., 0, .5),
line_type=GL_LINE_LOOP)
def close(self):
self.alive = False
def cleanup(self):
self.deinit_gui()
if __name__ == '__main__':
cal_pt_cloud = np.load("cal_pt_cloud.npy")
map_fn, inlier_map = get_map_from_cloud(cal_pt_cloud, (1280, 720),
return_inlier_map=True)
# print cal_pt_cloud[inlier_map][:,0:2].shape
# print cal_pt_cloud[inlier_map][0,2:4]
inlier = np.concatenate(
(cal_pt_cloud[inlier_map][:, 0:2], cal_pt_cloud[inlier_map][:, 2:4]),
axis=1)
print inlier
print inlier.reshape(-1, 2)
