Intagration of the function
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Anaaim
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8075224879
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3f580ee756
@ -718,7 +718,7 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
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# H_cam = np.block([[r_mat,t.reshape(3,1)], [np.zeros(3), 1 ]])
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# P_cam = Kh_cam @ H_cam
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# proj_obj = [ ( P_cam[0] @ np.append(o, 1) / (P_cam[2] @ np.append(o, 1)), P_cam[1] @ np.append(o, 1) / (P_cam[2] @ np.append(o, 1)) ) for o in objp]
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proj_obj = np.squeeze(cv2.projectPoints(objp,r,t,mtx,dist)[0])
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proj_obj = np.squeeze(cv2.projectPoints(np.array(objp),r,t,mtx,dist)[0])
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# Check calibration results
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if show_reprojection_error:
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@ -966,85 +966,123 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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Detect click position on image
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If right click, last point is removed
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'''
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global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count, xydata
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# Left click: Add clicked point to imgp_confirmed
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# Display it on image and on 3D plot
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if event.button == 1:
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# To remember the event to cancel after right click
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if 'events' in globals():
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events.append(event)
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else:
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events = [event]
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# Add clicked point to image
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xydata = scat.get_offsets()
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new_xydata = np.concatenate((xydata,[[event.xdata,event.ydata]]))
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scat.set_offsets(new_xydata)
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imgp_confirmed = np.expand_dims(scat.get_offsets(), axis=1)
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plt.draw()
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global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count, xydata, in_prompt
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# To avoid to much click during the prompt
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in_prompt_not_exist = "in_prompt" not in globals()
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# Add clicked point to 3D object points if given
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if len(objp) != 0:
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count = [0 if 'count' not in globals() else count+1][0]
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if count==0:
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# retrieve objp_confirmed and plot 3D
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objp_confirmed = [objp[count]]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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elif count == len(objp)-1:
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# close all
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plt.close('all')
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# retrieve objp_confirmed
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objp_confirmed = np.array([[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0])
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imgp_confirmed = np.array(imgp_confirmed, np.float32)
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# delete all
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for var_to_delete in ['events', 'count', 'scat', 'scat_3d', 'fig_3d', 'ax_3d', 'objp_confirmed_notok']:
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if var_to_delete in globals():
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del globals()[var_to_delete]
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if in_prompt_not_exist or not in_prompt:
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# Left click: Add clicked point to imgp_confirmed
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# Display it on image and on 3D plot
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if event.button == 1:
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# To remember the event to cancel after right click
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if 'events' in globals():
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events.append(event)
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else:
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# retrieve objp_confirmed and plot 3D
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objp_confirmed = [[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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events = [event]
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# Right click:
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# If last event was left click, remove last point and if objp given, from objp_confirmed
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# If last event was 'H' and objp given, remove last point from objp_confirmed_notok
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elif event.button == 3: # right click
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if 'events' in globals():
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# If last event was left click:
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if 'button' in dir(events[-1]):
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if events[-1].button == 1:
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# Remove lastpoint from image
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new_xydata = scat.get_offsets()[:-1]
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scat.set_offsets(new_xydata)
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plt.draw()
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# Remove last point from imgp_confirmed
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imgp_confirmed = imgp_confirmed[:-1]
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# Add clicked point to image
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xydata = scat.get_offsets()
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new_xydata = np.concatenate((xydata, [[event.xdata, event.ydata]]))
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scat.set_offsets(new_xydata)
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imgp_confirmed = np.expand_dims(scat.get_offsets(), axis=1)
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plt.draw()
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# Add clicked point to 3D object points if given
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if len(objp) != 0:
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count = [0 if 'count' not in globals() else count + 1][0]
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if count == 0:
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# retrieve objp_confirmed and plot 3D
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objp_confirmed = [objp[count]]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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print(count)
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elif count == len(objp) - 1:
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in_prompt = True
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objp_confirmed = \
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[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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msg_box = tkinter.messagebox.askquestion(
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"Validate Calibration", "Are you satisfied with point positioning ? ", icon="warning"
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)
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if msg_box.lower() == "yes":
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# close all
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plt.close('all')
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# retrieve objp_confirmed
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# objp_confirmed = np.array([[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0])
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imgp_confirmed = np.array(imgp_confirmed, np.float32)
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# delete all
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in_prompt = False
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for var_to_delete in ['events', 'count', 'scat', 'scat_3d', 'fig_3d', 'ax_3d',
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'objp_confirmed_notok']:
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if var_to_delete in globals():
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del globals()[var_to_delete]
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elif msg_box.lower() == "no":
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in_prompt = False
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# If last event was left click:
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if 'button' in dir(events[-1]):
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if events[-1].button == 1:
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# Remove lastpoint from image
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new_xydata = scat.get_offsets()[:-1]
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scat.set_offsets(new_xydata)
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plt.draw()
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# Remove last point from imgp_confirmed
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imgp_confirmed = imgp_confirmed[:-1]
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if len(objp) != 0:
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if count >= 0:
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count -= 1
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# Remove last point from objp_confirmed
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objp_confirmed = objp_confirmed[:-1]
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# remove from plot
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if len(ax_3d.collections) > len(objp):
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ax_3d.collections[-1].remove()
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fig_3d.canvas.draw()
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else:
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# retrieve objp_confirmed and plot 3D
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objp_confirmed = \
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[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
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ax_3d.scatter(*objp[count], marker='o', color='g')
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fig_3d.canvas.draw()
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print(count)
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# Right click:
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# If last event was left click, remove last point and if objp given, from objp_confirmed
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# If last event was 'H' and objp given, remove last point from objp_confirmed_notok
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elif event.button == 3: # right click
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if 'events' in globals():
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# If last event was left click:
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if 'button' in dir(events[-1]):
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if events[-1].button == 1:
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# Remove lastpoint from image
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new_xydata = scat.get_offsets()[:-1]
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scat.set_offsets(new_xydata)
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plt.draw()
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# Remove last point from imgp_confirmed
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imgp_confirmed = imgp_confirmed[:-1]
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if len(objp) != 0:
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if count >= 0:
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count -= 1
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# Remove last point from objp_confirmed
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objp_confirmed = objp_confirmed[:-1]
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# remove from plot
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if len(ax_3d.collections) > len(objp):
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ax_3d.collections[-1].remove()
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fig_3d.canvas.draw()
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# If last event was 'h' key
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elif events[-1].key == 'h':
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if len(objp) != 0:
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if count >= 0:
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count -= 1
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# Remove last point from objp_confirmed
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objp_confirmed = objp_confirmed[:-1]
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# remove from plot
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if count >= 1: count -= 1
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# Remove last point from objp_confirmed_notok
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objp_confirmed_notok = objp_confirmed_notok[:-1]
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# remove from plot
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if len(ax_3d.collections) > len(objp):
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ax_3d.collections[-1].remove()
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fig_3d.canvas.draw()
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# If last event was 'h' key
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elif events[-1].key == 'h':
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if len(objp) != 0:
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if count >= 1: count -= 1
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# Remove last point from objp_confirmed_notok
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objp_confirmed_notok = objp_confirmed_notok[:-1]
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# remove from plot
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if len(ax_3d.collections) > len(objp):
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ax_3d.collections[-1].remove()
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fig_3d.canvas.draw()
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def set_axes_equal(ax):
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'''
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