def __init__(self, java_object=None):
self.left = pyboof.Intrinsic()
self.right = pyboof.Intrinsic()
self.right_to_left = pyboof.Se3_F64()
if java_object is not None:
self.set_from_boof(java_object)
def __init__(self, intrinsic_left, intrinsic_right, right_to_left):
"""
Configures rectification
:param intrinsic_left: Intrinsic parameters for left camera
:type intrinsic_left: pyboof.CameraPinhole
:param intrinsic_right: Intrinsic parameters for right camera
:type intrinsic_right: pyboof.CameraPinhole
:param right_to_left: Extrinsic parameters for right to left camera
:type right_to_left: pyboof.Se3_F64
"""
boof_left = intrinsic_left.convert_to_boof()
boof_right = intrinsic_right.convert_to_boof()
K1 = gateway.jvm.org.ejml.data.DMatrixRMaj(3, 3)
K2 = gateway.jvm.org.ejml.data.DMatrixRMaj(3, 3)
gateway.jvm.boofcv.alg.geo.PerspectiveOps.pinholeToMatrix(boof_left, K1)
gateway.jvm.boofcv.alg.geo.PerspectiveOps.pinholeToMatrix(boof_right, K2)
left_to_right = right_to_left.invert()
rectify_alg = gateway.jvm.boofcv.alg.geo.RectifyImageOps.createCalibrated()
rectify_alg.process(K1, pyboof.Se3_F64().java_obj, K2, left_to_right.get_java_object())
self.intrinsic_left = intrinsic_left
self.intrinsic_right = intrinsic_right
self.orig_rect1 = rectify_alg.getUndistToRectPixels1()
self.orig_rect2 = rectify_alg.getUndistToRectPixels2()
self.orig_rectK = rectify_alg.getCalibrationMatrix()
self.rect1 = self.orig_rect1.copy()
self.rect2 = self.orig_rect2.copy()
self.rectK = self.orig_rectK.copy()
def __init__(self, java_object=None):
self.left = pyboof.CameraPinhole()
self.right = pyboof.CameraPinhole()
self.right_to_left = pyboof.Se3_F64()
if java_object is not None:
self.set_from_boof(java_object)
def process(self, data_set):
# TODO use type information (not available yet) to convert the dataset.
java_list = pyboof.p2b_list_AssociatedPair(data_set)
if not self.java_obj.process(java_list):
return False
# TODO convert model based on model type info
self.model_parameters = pyboof.Se3_F64(self.java_obj.getModelParameters())
self.match_set = pyboof.b2p_list_AssociatedPair(self.java_obj.getMatchSet())
self.input_indexes = [0]*len(self.match_set)
for i in range(len(self.input_indexes)):
self.input_indexes[i] = self.java_obj.getInputIndex(i)
self.fit_quality = self.java_obj.getFitQuality()
return True
def __init__(self, intrinsic_left, intrinsic_right, right_to_left):
"""
Configures rectification
:param intrinsic_left: Intrinsic parameters for left camera
:type intrinsic_left: pyboof.Intrinsic
:param intrinsic_right: Intrinsic parameters for right camera
:type intrinsic_right: pyboof.Intrinsic
:param right_to_left: Extrinsic parameters for right to left camera
:type right_to_left: pyboof.Se3_F64
"""
boof_left = intrinsic_left.convert_to_boof()
boof_right = intrinsic_right.convert_to_boof()
K1 = gateway.jvm.boofcv.alg.geo.PerspectiveOps.calibrationMatrix(
boof_left, None)
K2 = gateway.jvm.boofcv.alg.geo.PerspectiveOps.calibrationMatrix(
boof_right, None)
left_to_right = right_to_left.invert()
rectify_alg = gateway.jvm.boofcv.alg.geo.RectifyImageOps.createCalibrated(
)
rectify_alg.process(K1,
pyboof.Se3_F64().java_obj, K2,
left_to_right.get_java_object())
self.intrinsic_left = intrinsic_left
self.intrinsic_right = intrinsic_right
self.orig_rect1 = rectify_alg.getRect1()
self.orig_rect2 = rectify_alg.getRect2()
self.orig_rectK = rectify_alg.getCalibrationMatrix()
self.rect1 = self.orig_rect1.copy()
self.rect2 = self.orig_rect2.copy()
self.rectK = self.orig_rectK.copy()
def set_from_boof(self, boof_stereo_param):
self.left.set_from_boof(boof_stereo_param.getLeft())
self.right.set_from_boof(boof_stereo_param.getRight())
self.right_to_left = pyboof.Se3_F64(boof_stereo_param.getRightToLeft())