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Dump board poses human-readable and machine-readable format.

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This commit is contained in:
Alexander Smorkalov 2024-02-14 15:17:01 +03:00
parent 0957437bbe
commit 12b7aac1a0
2 changed files with 24 additions and 8 deletions
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18
apps/python-calibration-generator/calibration_generator.py
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@ -2,6 +2,11 @@
# It is subject to the license terms in the LICENSE file found in the top-level directory
# of this distribution and at http://opencv.org/license.html.
# The script generates synthetic data for multi-camera calibration assessment
# Input: cameras configuration. See config_cv_test.yaml
# Output: generated object points (3d), image points (2d) for calibration and
# board poses ground truth (R, t) for check
import argparse
import numpy as np
import math
@ -10,6 +15,8 @@ from drawer import animation2D, animation3D
from utils import RandGen, insideImage, eul2rot, saveKDRT, areAllInsideImage, insideImageMask, projectCamera, export2JSON, writeMatrix
from pathlib import Path
from board import CheckerBoard
import os
import json
class Camera:
def __init__(self, idx, img_width, img_height, fx_limit, euler_limit, t_limit, is_fisheye, fy_deviation=None, skew=None,
@ -337,8 +344,15 @@ def main(cfg_name, save_folder):
file = open(save_folder + "gt.txt", "a")
for i in range(R_used.shape[0]):
writeMatrix(file, R_used[i])
writeMatrix(file, t_used[i])
writeMatrix(file, 'R_%d' % i, R_used[i])
writeMatrix(file, 'T_%d' % i, t_used[i])
poses = dict()
for idx in range(len(R_used)):
poses['frame_%d' % idx] = {'R': R_used[idx].tolist(), 'T': t_used[idx].tolist()}
with open(os.path.join(save_folder, "gt_poses.json"), 'wt') as gt:
gt.write(json.dumps(poses, indent=4))
if __name__ == '__main__':
parser = argparse.ArgumentParser()

14
apps/python-calibration-generator/utils.py
View File

@ -46,18 +46,20 @@ def insideImage(pts, w, h):
def areAllInsideImage(pts, w, h):
return insideImageMask(pts, w, h).all()
def writeMatrix(file, M):
def writeMatrix(file, label, M):
file.write("%s:\n" % label)
for i in range(M.shape[0]):
for j in range(M.shape[1]):
file.write(str(M[i,j]) + ('\n' if j == M.shape[1]-1 else ' '))
def saveKDRT(cameras, fname):
file = open(fname, 'w')
for cam in cameras:
writeMatrix(file, cam.K)
writeMatrix(file, cam.distortion)
writeMatrix(file, cam.R)
writeMatrix(file, cam.t)
for idx, cam in enumerate(cameras):
file.write("camera_%d:\n" % idx)
writeMatrix(file, "K", cam.K)
writeMatrix(file, "distortion", cam.distortion)
writeMatrix(file, "R", cam.R)
writeMatrix(file, "T", cam.t)
def export2JSON(pattern_points, image_points, image_sizes, is_fisheye, json_file):
image_points = image_points.transpose(1,0,3,2)