def __init__(self, calibration_image_size, focal_length_pixels,
optical_center_pixels, lens_distortion_radial):
'''
Format for parameters:
focal_length_pixels = (720.511045, 724.498871),
optical_center_pixels = (324.277843, 236.260833),
lens_distortion_radial = (-0.428665, 0.300025, -0.230655),
'''
self.calibration_image_size = calibration_image_size
self.focal_length_pixels = focal_length_pixels
self.optical_center_pixels = optical_center_pixels
self.lens_distortion_radial = lens_distortion_radial
self.intrinsic_mat = np.array([[focal_length_pixels[0], 0, optical_center_pixels[0]],
[0, focal_length_pixels[1], optical_center_pixels[1]],
[0, 0, 1]])
self.inv_intrinsic_mat = np.linalg.inv(np.matrix(self.intrinsic_mat))
self.intrinsic_mat_cv = ut.numpymat2cvmat(self.intrinsic_mat)
self.inv_intrinsic_mat_cv = ut.numpymat2cvmat(self.inv_intrinsic_mat)
self.lens_distortion_radial_cv = cv.cvCreateMat(4, 1, cv.CV_32FC1)
self.lens_distortion_radial_cv[0,0] = lens_distortion_radial[0]
self.lens_distortion_radial_cv[1,0] = lens_distortion_radial[1]
self.lens_distortion_radial_cv[2,0] = 0
#self.lens_distortion_radial_cv[2,0] = lens_distortion_radial[2]
self.lens_distortion_radial_cv[3,0] = 0
self.temp = None
self.mapx = cv.cvCreateMat(int(calibration_image_size[1]), int(calibration_image_size[0]), cv.CV_32FC1)
self.mapy = cv.cvCreateMat(int(calibration_image_size[1]), int(calibration_image_size[0]), cv.CV_32FC1)
cv.cvInitUndistortMap(self.intrinsic_mat_cv, self.lens_distortion_radial_cv, self.mapx, self.mapy)
def __init__(self, calibration_image_size, focal_length_pixels,
optical_center_pixels, lens_distortion_radial):
'''
Format for parameters:
focal_length_pixels = (720.511045, 724.498871),
optical_center_pixels = (324.277843, 236.260833),
lens_distortion_radial = (-0.428665, 0.300025, -0.230655),
'''
self.calibration_image_size = calibration_image_size
self.focal_length_pixels = focal_length_pixels
self.optical_center_pixels = optical_center_pixels
self.lens_distortion_radial = lens_distortion_radial
self.intrinsic_mat = np.array(
[[focal_length_pixels[0], 0, optical_center_pixels[0]],
[0, focal_length_pixels[1], optical_center_pixels[1]], [0, 0, 1]])
self.inv_intrinsic_mat = np.linalg.inv(np.matrix(self.intrinsic_mat))
self.intrinsic_mat_cv = ut.numpymat2cvmat(self.intrinsic_mat)
self.inv_intrinsic_mat_cv = ut.numpymat2cvmat(self.inv_intrinsic_mat)
self.lens_distortion_radial_cv = cv.cvCreateMat(4, 1, cv.CV_32FC1)
self.lens_distortion_radial_cv[0, 0] = lens_distortion_radial[0]
self.lens_distortion_radial_cv[1, 0] = lens_distortion_radial[1]
self.lens_distortion_radial_cv[2, 0] = 0
#self.lens_distortion_radial_cv[2,0] = lens_distortion_radial[2]
self.lens_distortion_radial_cv[3, 0] = 0
self.temp = None
self.mapx = cv.cvCreateMat(int(calibration_image_size[1]),
int(calibration_image_size[0]), cv.CV_32FC1)
self.mapy = cv.cvCreateMat(int(calibration_image_size[1]),
int(calibration_image_size[0]), cv.CV_32FC1)
cv.cvInitUndistortMap(self.intrinsic_mat_cv,
self.lens_distortion_radial_cv, self.mapx,
self.mapy)
def rodrigues(vec):
cvvec = ut.numpymat2cvmat(vec)
dst = cv.CreateMat(3, 3, cv.CV_32FC1)
cv.Rodrigues2(cvvec, dst)
return ut.cvmat2numpymat(dst).T
def rodrigues(vec):
cvvec = ut.numpymat2cvmat(vec)
dst = cv.cvCreateMat(3,3,cv.CV_32FC1)
cv.cvRodrigues2(cvvec, dst)
return ut.cvmat2numpymat(dst).T
import util
import camera_config as cc
cp = cc.camera_parameters[camera_name]
size = (int(cp['calibration_image_width']), int(cp['calibration_image_height']))
color = cp['color']
intrinsic_cvmat = cvCreateMat(3,3,cv.CV_32FC1)
distortion_cvmat = cvCreateMat(1,4,cv.CV_32FC1)
imat_np = np.array([[cp['focal_length_x_in_pixels'],0,
cp['optical_center_x_in_pixels']],
[0,cp['focal_length_y_in_pixels'],
cp['optical_center_y_in_pixels']],
[0,0,1]])
intrinsic_cvmat = util.numpymat2cvmat(imat_np)
dmat_np = np.array([[cp['lens_distortion_radial_1'],
cp['lens_distortion_radial_2'],
cp['lens_distortion_tangential_1'],
cp['lens_distortion_tangential_2']]])
distortion_cvmat = util.numpymat2cvmat(dmat_np)
undistort_mapx = cvCreateImage(size, IPL_DEPTH_32F, 1)
undistort_mapy = cvCreateImage(size, IPL_DEPTH_32F, 1)
cvInitUndistortMap(intrinsic_cvmat, distortion_cvmat,
undistort_mapx, undistort_mapy)
if color == True:
undistort_image = cvCreateImage(size, IPL_DEPTH_8U, 3)
else:
cp = cc.camera_parameters[camera_name]
size = (int(cp["calibration_image_width"]), int(cp["calibration_image_height"]))
color = cp["color"]
intrinsic_cvmat = cvCreateMat(3, 3, cv.CV_32FC1)
distortion_cvmat = cvCreateMat(1, 4, cv.CV_32FC1)
imat_np = np.array(
[
[cp["focal_length_x_in_pixels"], 0, cp["optical_center_x_in_pixels"]],
[0, cp["focal_length_y_in_pixels"], cp["optical_center_y_in_pixels"]],
[0, 0, 1],
]
)
intrinsic_cvmat = util.numpymat2cvmat(imat_np)
dmat_np = np.array(
[
[
cp["lens_distortion_radial_1"],
cp["lens_distortion_radial_2"],
cp["lens_distortion_tangential_1"],
cp["lens_distortion_tangential_2"],
]
]
)
distortion_cvmat = util.numpymat2cvmat(dmat_np)
undistort_mapx = cvCreateImage(size, IPL_DEPTH_32F, 1)
undistort_mapy = cvCreateImage(size, IPL_DEPTH_32F, 1)