mirror of
https://github.com/opencv/opencv.git
synced 2024-12-03 08:19:52 +08:00
69 lines
2.2 KiB
Python
69 lines
2.2 KiB
Python
#!/usr/bin/env python
|
|
|
|
import numpy as np
|
|
import cv2 as cv
|
|
|
|
import argparse
|
|
import sys
|
|
|
|
def main():
|
|
parser = argparse.ArgumentParser()
|
|
parser.add_argument(
|
|
'--algo',
|
|
help="""DEPTH - works with depth,
|
|
RGB - works with images,
|
|
RGB_DEPTH - works with all,
|
|
SCALE - works with depth and calculate Rt with scale,
|
|
default - runs all algos""",
|
|
default="")
|
|
parser.add_argument(
|
|
'-src_d',
|
|
'--source_depth_frame',
|
|
default="")
|
|
parser.add_argument(
|
|
'-dst_d',
|
|
'--destination_depth_frame',
|
|
default="")
|
|
parser.add_argument(
|
|
'-src_rgb',
|
|
'--source_rgb_frame',
|
|
default="")
|
|
parser.add_argument(
|
|
'-dst_rgb',
|
|
'--destination_rgb_frame',
|
|
default="")
|
|
|
|
args = parser.parse_args()
|
|
|
|
if args.algo == "RGB_DEPTH" or args.algo == "DEPTH" or args.algo == "":
|
|
source_depth_frame = cv.samples.findFile(args.source_depth_frame)
|
|
destination_depth_frame = cv.samples.findFile(args.destination_depth_frame)
|
|
depth1 = cv.imread(source_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32)
|
|
depth2 = cv.imread(destination_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32)
|
|
|
|
if args.algo == "RGB_DEPTH" or args.algo == "RGB" or args.algo == "":
|
|
source_rgb_frame = cv.samples.findFile(args.source_rgb_frame)
|
|
destination_rgb_frame = cv.samples.findFile(args.destination_rgb_frame)
|
|
rgb1 = cv.imread(source_rgb_frame, cv.IMREAD_COLOR)
|
|
rgb2 = cv.imread(destination_rgb_frame, cv.IMREAD_COLOR)
|
|
|
|
if args.algo == "DEPTH" or args.algo == "":
|
|
odometry = cv.Odometry(cv.DEPTH)
|
|
Rt = np.zeros((4, 4))
|
|
odometry.compute(depth1, depth2, Rt)
|
|
print("Rt:\n {}".format(Rt))
|
|
if args.algo == "RGB" or args.algo == "":
|
|
odometry = cv.Odometry(cv.RGB)
|
|
Rt = np.zeros((4, 4))
|
|
odometry.compute(rgb1, rgb2, Rt)
|
|
print("Rt:\n {}".format(Rt))
|
|
if args.algo == "RGB_DEPTH" or args.algo == "":
|
|
odometry = cv.Odometry(cv.RGB_DEPTH)
|
|
Rt = np.zeros((4, 4))
|
|
odometry.compute(depth1, rgb1, depth2, rgb2, Rt)
|
|
print("Rt:\n {}".format(Rt))
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main()
|