def cli(frame_sequence, camera, track_destination, point_cloud_destination,
file_to_load_corners, show, camera_poses_file, frame_1, frame_2):
"""
FRAME_SEQUENCE path to a video file or shell-like wildcard describing
multiple images\n
CAMERA intrinsic parameters of camera\n
TRACK_DESTINATION path to file for dumping result camera track\n
POINT_CLOUD_DESTINATION path to file for dumping result point cloud
"""
sequence = frameseq.read_grayscale_f32(frame_sequence)
if file_to_load_corners is not None:
corner_storage = load(file_to_load_corners)
else:
corner_storage = build(sequence)
if camera_poses_file is not None and frame_1 is not None and frame_2 is not None:
known_camera_poses = read_poses(camera_poses_file)
known_view_1 = frame_1, known_camera_poses[frame_1]
known_view_2 = frame_2, known_camera_poses[frame_2]
else:
known_view_1 = None
known_view_2 = None
camera_parameters = read_camera_parameters(camera)
poses, point_cloud = track_and_calc_colors(
camera_parameters,
corner_storage,
frame_sequence,
known_view_1,
known_view_2
)
write_poses(poses, track_destination)
write_point_cloud(point_cloud, point_cloud_destination)
if show:
click.echo(
"Press 'q' to stop, 'd' to go forward, 'a' to go backward, "
"'r' to restart"
)
frame = 0
while True:
grayscale = sequence[frame]
bgra = draw_residuals(grayscale, corner_storage[frame],
point_cloud, camera_parameters,
poses[frame])
cv2.imshow('Frame', bgra)
key = chr(cv2.waitKey(20) & 0xFF)
if key == 'r':
frame = 0
if key == 'a' and frame > 0:
frame -= 1
if key == 'd' and frame + 1 < len(corner_storage):
frame += 1
if key == 'q':
break
def cli(camera_parameters, poses, point_cloud):
script_path = os.path.abspath(os.path.dirname(__file__))
camera_model_files = (os.path.join(script_path,
'camera_model/geometry.obj'),
os.path.join(script_path,
'camera_model/texture.jpg'))
renderer = CameraTrackRendererApp(
camera_model_files, read_camera_parameters(camera_parameters),
read_poses(poses), read_point_cloud(point_cloud))
renderer.show()
def _read_camera_parameters(parameters_path):
with open(parameters_path, 'r') as camera_file:
return data3d.read_camera_parameters(camera_file)
