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69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
#!/usr/bin/env python
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import numpy as np
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import cv2 as cv
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import argparse
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import sys
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument(
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'--algo',
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help="""DEPTH - works with depth,
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RGB - works with images,
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RGB_DEPTH - works with all,
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default - runs all algos""",
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default="")
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parser.add_argument(
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'-src_d',
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'--source_depth_frame',
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default="")
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parser.add_argument(
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'-dst_d',
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'--destination_depth_frame',
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default="")
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parser.add_argument(
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'-src_rgb',
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'--source_rgb_frame',
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default="")
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parser.add_argument(
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'-dst_rgb',
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'--destination_rgb_frame',
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default="")
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args = parser.parse_args()
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if args.algo == "RGB_DEPTH" or args.algo == "DEPTH" or args.algo == "":
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source_depth_frame = cv.samples.findFile(args.source_depth_frame)
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destination_depth_frame = cv.samples.findFile(args.destination_depth_frame)
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depth1 = cv.imread(source_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32)
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depth2 = cv.imread(destination_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32)
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if args.algo == "RGB_DEPTH" or args.algo == "RGB" or args.algo == "":
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source_rgb_frame = cv.samples.findFile(args.source_rgb_frame)
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destination_rgb_frame = cv.samples.findFile(args.destination_rgb_frame)
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rgb1 = cv.imread(source_rgb_frame, cv.IMREAD_COLOR)
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rgb2 = cv.imread(destination_rgb_frame, cv.IMREAD_COLOR)
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if args.algo == "DEPTH" or args.algo == "":
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odometry = cv.Odometry(cv.DEPTH)
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Rt = np.zeros((4, 4))
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odometry.compute(depth1, depth2, Rt)
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print(Rt)
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if args.algo == "RGB" or args.algo == "":
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odometry = cv.Odometry(cv.RGB)
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Rt = np.zeros((4, 4))
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odometry.compute(rgb1, rgb2, Rt)
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print(Rt)
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if args.algo == "RGB_DEPTH" or args.algo == "":
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odometry = cv.Odometry(cv.RGB_DEPTH)
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Rt = np.zeros((4, 4))
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odometry.compute(depth1, rgb1, depth2, rgb2, Rt)
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print(Rt)
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if __name__ == '__main__':
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main()
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