# Define number of points and camera parameters
n = 10
sigma = 0.0005
n_range = range(5, 25)
sigma_range = np.arange(0.0001, 0.001, 0.0001)
f = 1.0
cx = 0.0
cy = 0.0
cam_intrinsic = np.array([[f, 0.0, cx], [0.0, f, cy], [0.0, 0.0, 1.0]])
# Define constants for serial outputting results
checkmark = u'\u2713'
l_progress_bar = 50
# Instantiate pnp module
pnp = pymrpt.pnp(n)
# Define settings for comparison module
algos = [pnp.dls, pnp.epnp, pnp.p3p, pnp.rpnp, pnp.ppnp, pnp.posit, pnp.lhm]
algo_names = ['dls', 'epnp', 'p3p', 'rpnp', 'ppnp', 'posit', 'lhm']
algo_ls = [':', '-', '--', '-', '--', '-', '-']
n_algos = len(algos)
n_iter = 100
class HighlightLines(plugins.PluginBase):
# css format for interactive d3 plots
"""A plugin for an interactive legend.
Inspired by http://bl.ocks.org/simzou/6439398
"""
plt.plot(t,arr[i,:],label=names[i])
plt.xlabel(xtitle)
plt.ylabel(ytitle)
plt.title(title)
ax=plt.gca()
ax.set_ylim([0,10])
# Define number of points and camera parameters
n=6
f=1.0
cx=0.0
cy=0.0
# Instantiate pnp module
pnp = pymrpt.pnp(n)
# Define object points and image points
obj_pts=np.array([[0,0,0],[0,0,-50.0],[2,0,35],[5,-40,25],[10,15,9],[-20,50,7]])
img_pts=np.empty([n,2])
img_pts_=np.empty([n,3])
img_pts_[:,2]=1
pose_epnp=np.empty([6,1])
pose_upnp=np.empty([6,1])
pose_dls=np.empty([6,1])
pose_p3p=np.empty([6,1])
pose_ppnp=np.empty([6,1])
pose_posit=np.empty([6,1])
pose_mat_orig=np.empty([4,4])