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Intagration of the function

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This commit is contained in:
Anaaim 2024-04-09 09:53:07 +02:00
parent 8075224879
commit 3f580ee756
1 changed files with 110 additions and 72 deletions
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182
Pose2Sim/calibration.py
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@ -718,7 +718,7 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
# H_cam = np.block([[r_mat,t.reshape(3,1)], [np.zeros(3), 1 ]]) # H_cam = np.block([[r_mat,t.reshape(3,1)], [np.zeros(3), 1 ]])
# P_cam = Kh_cam @ H_cam # P_cam = Kh_cam @ H_cam
# 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] # 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]
proj_obj = np.squeeze(cv2.projectPoints(objp,r,t,mtx,dist)[0]) proj_obj = np.squeeze(cv2.projectPoints(np.array(objp),r,t,mtx,dist)[0])
# Check calibration results # Check calibration results
if show_reprojection_error: if show_reprojection_error:
@ -966,85 +966,123 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
Detect click position on image Detect click position on image
If right click, last point is removed If right click, last point is removed
''' '''
global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count, xydata
# Left click: Add clicked point to imgp_confirmed
# Display it on image and on 3D plot
if event.button == 1:
# To remember the event to cancel after right click
if 'events' in globals():
events.append(event)
else:
events = [event]
# Add clicked point to image global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count, xydata, in_prompt
xydata = scat.get_offsets() # To avoid to much click during the prompt
new_xydata = np.concatenate((xydata,[[event.xdata,event.ydata]])) in_prompt_not_exist = "in_prompt" not in globals()
scat.set_offsets(new_xydata)
imgp_confirmed = np.expand_dims(scat.get_offsets(), axis=1)
plt.draw()
# Add clicked point to 3D object points if given if in_prompt_not_exist or not in_prompt:
if len(objp) != 0: # Left click: Add clicked point to imgp_confirmed
count = [0 if 'count' not in globals() else count+1][0] # Display it on image and on 3D plot
if count==0: if event.button == 1:
# retrieve objp_confirmed and plot 3D # To remember the event to cancel after right click
objp_confirmed = [objp[count]] if 'events' in globals():
ax_3d.scatter(*objp[count], marker='o', color='g') events.append(event)
fig_3d.canvas.draw()
elif count == len(objp)-1:
# close all
plt.close('all')
# retrieve objp_confirmed
objp_confirmed = np.array([[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0])
imgp_confirmed = np.array(imgp_confirmed, np.float32)
# delete all
for var_to_delete in ['events', 'count', 'scat', 'scat_3d', 'fig_3d', 'ax_3d', 'objp_confirmed_notok']:
if var_to_delete in globals():
del globals()[var_to_delete]
else: else:
# retrieve objp_confirmed and plot 3D events = [event]
objp_confirmed = [[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0]
ax_3d.scatter(*objp[count], marker='o', color='g')
fig_3d.canvas.draw()
# Right click: # Add clicked point to image
# If last event was left click, remove last point and if objp given, from objp_confirmed xydata = scat.get_offsets()
# If last event was 'H' and objp given, remove last point from objp_confirmed_notok new_xydata = np.concatenate((xydata, [[event.xdata, event.ydata]]))
elif event.button == 3: # right click scat.set_offsets(new_xydata)
if 'events' in globals(): imgp_confirmed = np.expand_dims(scat.get_offsets(), axis=1)
# If last event was left click: plt.draw()
if 'button' in dir(events[-1]):
if events[-1].button == 1: # Add clicked point to 3D object points if given
# Remove lastpoint from image if len(objp) != 0:
new_xydata = scat.get_offsets()[:-1] count = [0 if 'count' not in globals() else count + 1][0]
scat.set_offsets(new_xydata) if count == 0:
plt.draw() # retrieve objp_confirmed and plot 3D
# Remove last point from imgp_confirmed objp_confirmed = [objp[count]]
imgp_confirmed = imgp_confirmed[:-1] ax_3d.scatter(*objp[count], marker='o', color='g')
fig_3d.canvas.draw()
print(count)
elif count == len(objp) - 1:
in_prompt = True
objp_confirmed = \
[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
ax_3d.scatter(*objp[count], marker='o', color='g')
fig_3d.canvas.draw()
msg_box = tkinter.messagebox.askquestion(
"Validate Calibration", "Are you satisfied with point positioning ? ", icon="warning"
)
if msg_box.lower() == "yes":
# close all
plt.close('all')
# retrieve objp_confirmed
# objp_confirmed = np.array([[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed+[objp[count]]][0])
imgp_confirmed = np.array(imgp_confirmed, np.float32)
# delete all
in_prompt = False
for var_to_delete in ['events', 'count', 'scat', 'scat_3d', 'fig_3d', 'ax_3d',
'objp_confirmed_notok']:
if var_to_delete in globals():
del globals()[var_to_delete]
elif msg_box.lower() == "no":
in_prompt = False
# If last event was left click:
if 'button' in dir(events[-1]):
if events[-1].button == 1:
# Remove lastpoint from image
new_xydata = scat.get_offsets()[:-1]
scat.set_offsets(new_xydata)
plt.draw()
# Remove last point from imgp_confirmed
imgp_confirmed = imgp_confirmed[:-1]
if len(objp) != 0:
if count >= 0:
count -= 1
# Remove last point from objp_confirmed
objp_confirmed = objp_confirmed[:-1]
# remove from plot
if len(ax_3d.collections) > len(objp):
ax_3d.collections[-1].remove()
fig_3d.canvas.draw()
else:
# retrieve objp_confirmed and plot 3D
objp_confirmed = \
[[objp[count]] if 'objp_confirmed' not in globals() else objp_confirmed + [objp[count]]][0]
ax_3d.scatter(*objp[count], marker='o', color='g')
fig_3d.canvas.draw()
print(count)
# Right click:
# If last event was left click, remove last point and if objp given, from objp_confirmed
# If last event was 'H' and objp given, remove last point from objp_confirmed_notok
elif event.button == 3: # right click
if 'events' in globals():
# If last event was left click:
if 'button' in dir(events[-1]):
if events[-1].button == 1:
# Remove lastpoint from image
new_xydata = scat.get_offsets()[:-1]
scat.set_offsets(new_xydata)
plt.draw()
# Remove last point from imgp_confirmed
imgp_confirmed = imgp_confirmed[:-1]
if len(objp) != 0:
if count >= 0:
count -= 1
# Remove last point from objp_confirmed
objp_confirmed = objp_confirmed[:-1]
# remove from plot
if len(ax_3d.collections) > len(objp):
ax_3d.collections[-1].remove()
fig_3d.canvas.draw()
# If last event was 'h' key
elif events[-1].key == 'h':
if len(objp) != 0: if len(objp) != 0:
if count >= 0: if count >= 1: count -= 1
count -= 1 # Remove last point from objp_confirmed_notok
# Remove last point from objp_confirmed objp_confirmed_notok = objp_confirmed_notok[:-1]
objp_confirmed = objp_confirmed[:-1] # remove from plot
# remove from plot
if len(ax_3d.collections) > len(objp): if len(ax_3d.collections) > len(objp):
ax_3d.collections[-1].remove() ax_3d.collections[-1].remove()
fig_3d.canvas.draw() fig_3d.canvas.draw()
# If last event was 'h' key
elif events[-1].key == 'h':
if len(objp) != 0:
if count >= 1: count -= 1
# Remove last point from objp_confirmed_notok
objp_confirmed_notok = objp_confirmed_notok[:-1]
# remove from plot
if len(ax_3d.collections) > len(objp):
ax_3d.collections[-1].remove()
fig_3d.canvas.draw()
def set_axes_equal(ax): def set_axes_equal(ax):
''' '''