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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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apps/python-calibration-generator/utils.py
+8 -6
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@@ -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)