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Update calibration.py
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Lines changed: 79 additions & 79 deletions

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‎openptv_python/calibration.py‎

Lines changed: 79 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -63,77 +63,80 @@ def rotation_matrix(ext: np.ndarray) -> None:
6363
rotation_matrix(Exterior) # rotation should be a unit matrix
6464
assert np.allclose(np.eye(3), Exterior['dm'])
6565

66+
interior_dtype = np.dtype([
67+
('xh', np.float64),
68+
('yh', np.float64),
69+
('cc', np.float64)
70+
])
71+
Interior = np.array( (0, 0, 0), dtype = interior_dtype).view(np.recarray)
72+
73+
# def set_primary_point(point: np.ndarray) -> None:
74+
# """Set the primary point of the camera."""
75+
# self.xh, self.yh, self.cc = point
76+
77+
# def set_back_focal_distance(self, cc: float) -> None:
78+
# """Set the back focal distance of the camera."""
79+
# self.cc = cc
80+
81+
ap52_dtype = np.dtype([
82+
('k1', np.float64),
83+
('k2', np.float64),
84+
('k3', np.float64),
85+
('p1', np.float64),
86+
('p2', np.float64),
87+
('scx', np.float64),
88+
('she', np.float64)
89+
])
90+
ap_52 = np.array((0, 0, 0, 0, 0, 1, 0), dtype = ap52_dtype).view(np.recarray)
91+
92+
93+
# class ap_52:
94+
# """Additional parameters for distortion correction."""
95+
96+
# def __init__(self, k1=0.0, k2=0.0, k3=0.0, p1=0.0, p2=0.0, scx=1.0, she=0.0):
97+
# self.k1 = k1
98+
# self.k2 = k2
99+
# self.k3 = k3
100+
# self.p1 = p1
101+
# self.p2 = p2
102+
# self.scx = scx
103+
# self.she = she
104+
105+
# def set_radial_distortion(self, dist_array: np.ndarray) -> None:
106+
# """Set the radial distortion parameters k1, k2, k3."""
107+
# self.k1, self.k2, self.k3 = dist_array
108+
109+
# def set_decentering(self, decent: np.ndarray) -> None:
110+
# """Set the decentring parameters p1 and p2."""
111+
# self.p1, self.p2 = decent
112+
113+
# def set_affine_distortion(self, affine: np.ndarray) -> None:
114+
# """Set the affine distortion parameters scx and she."""
115+
# self.scx, self.she = affine
116+
117+
mmlut_dtype = np.dtype([
118+
('origin', np.float64, 3),
119+
('nr', np.int32),
120+
('nz', np.int32),
121+
('rw', np.int32),
122+
('data', np.float64, (3, 3))
123+
])
66124

67-
# rotation_matrix(exterior) # inplace update of the rotation matrix
68-
69-
70-
# def increment_attribute(self, attr_name, increment_value):
71-
# """Update the value of an attribute by increment_value."""
72-
# if hasattr(self, attr_name):
73-
# setattr(self, attr_name, getattr(
74-
# self, attr_name) + increment_value)
75-
76-
# def __repr__(self) -> str:
77-
# """Return a string representation of the Exterior object."""
78-
# output = f"Exterior: x0={self['x0']}, y0={self['y0']}, z0={self['z0']}\n"
79-
# output += f"omega={self['omega']}, phi={self['phi']}, kappa={self['kappa']}\n"
80-
# return output
81-
82-
83-
class Interior:
84-
"""Interior orientation data structure."""
85-
86-
def __init__(self, xh=0.0, yh=0.0, cc=0.0):
87-
self.xh = xh
88-
self.yh = yh
89-
self.cc = cc
90-
91-
def set_primary_point(self, point: np.ndarray) -> None:
92-
"""Set the primary point of the camera."""
93-
self.xh, self.yh, self.cc = point
94-
95-
def set_back_focal_distance(self, cc: float) -> None:
96-
"""Set the back focal distance of the camera."""
97-
self.cc = cc
98-
99-
class ap_52:
100-
"""Additional parameters for distortion correction."""
101-
102-
def __init__(self, k1=0.0, k2=0.0, k3=0.0, p1=0.0, p2=0.0, scx=1.0, she=0.0):
103-
self.k1 = k1
104-
self.k2 = k2
105-
self.k3 = k3
106-
self.p1 = p1
107-
self.p2 = p2
108-
self.scx = scx
109-
self.she = she
110-
111-
def set_radial_distortion(self, dist_array: np.ndarray) -> None:
112-
"""Set the radial distortion parameters k1, k2, k3."""
113-
self.k1, self.k2, self.k3 = dist_array
114-
115-
def set_decentering(self, decent: np.ndarray) -> None:
116-
"""Set the decentring parameters p1 and p2."""
117-
self.p1, self.p2 = decent
118-
119-
def set_affine_distortion(self, affine: np.ndarray) -> None:
120-
"""Set the affine distortion parameters scx and she."""
121-
self.scx, self.she = affine
122-
125+
mm_lut = np.array((np.zeros(3), 0, 0, 0, np.zeros((3, 3))), dtype = mmlut_dtype).view(np.recarray)
123126

124-
class mm_lut:
125-
"""Multimedia lookup table data structure."""
127+
# class mm_lut:
128+
# """Multimedia lookup table data structure."""
126129

127-
def __init__(self, origin=None, nr=3, nz=3, rw=0, data=None):
128-
if origin is None:
129-
origin = np.zeros(3, dtype=np.float32)
130-
# if data is None:
131-
# data = np.zeros((nr, nz), dtype=np.float32) # Assuming data is a 2D array, adjust as needed
132-
self.origin = origin
133-
self.nr = nr
134-
self.nz = nz
135-
self.rw = rw
136-
self.data = data
130+
# def __init__(self, origin=None, nr=3, nz=3, rw=0, data=None):
131+
# if origin is None:
132+
# origin = np.zeros(3, dtype=np.float32)
133+
# # if data is None:
134+
# # data = np.zeros((nr, nz), dtype=np.float32) # Assuming data is a 2D array, adjust as needed
135+
# self.origin = origin
136+
# self.nr = nr
137+
# self.nz = nz
138+
# self.rw = rw
139+
# self.data = data
137140

138141

139142
class Calibration:
@@ -143,13 +146,13 @@ def __init__(self, ext_par=None, int_par=None, glass_par=None, added_par=None, m
143146
if ext_par is None:
144147
ext_par = Exterior.copy()
145148
if int_par is None:
146-
int_par = Interior()
149+
int_par = Interior.copy()
147150
if glass_par is None:
148151
glass_par = np.array([0.0, 0.0, 1.0])
149152
if added_par is None:
150-
added_par = ap_52()
153+
added_par = ap_52.copy()
151154
if mmlut is None:
152-
mmlut = mm_lut(np.zeros(3), 0, 0, 0, None)
155+
mmlut = mm_lut.copy() # (np.zeros(3), 0, 0, 0, None)
153156

154157
self.ext_par = ext_par
155158
self.int_par = int_par
@@ -418,10 +421,7 @@ def get_glass_vec(self) -> np.ndarray:
418421

419422
def set_added_par(self, listpar: np.ndarray | list):
420423
"""Set added par from an numpy array of parameters."""
421-
if isinstance(listpar, list):
422-
listpar = np.array(listpar)
423-
424-
self.added_par = ap_52(*listpar.tolist())
424+
self.added_par = np.array(listpar, dtype=ap52_dtype).view(np.recarray)
425425

426426
def copy(self, new_copy):
427427
"""Copy the calibration data to a new object."""
@@ -434,10 +434,10 @@ def copy(self, new_copy):
434434

435435

436436
def write_ori(
437-
ext_par: np.ndarray,
438-
int_par: Interior,
437+
ext_par: np.recarray,
438+
int_par: np.recarray,
439439
glass: np.ndarray,
440-
added_par: ap_52,
440+
added_par: np.recarray,
441441
filename: str,
442442
add_file: Optional[str],
443443
) -> bool:
@@ -499,7 +499,7 @@ def compare_exterior(e1: np.ndarray, e2: np.ndarray) -> bool:
499499
)
500500

501501

502-
def compare_interior(i1: Interior, i2: Interior) -> bool:
502+
def compare_interior(i1: np.recarray, i2: np.recarray) -> bool:
503503
"""Compare interior orientation parameters."""
504504
return i1.xh == i2.xh and i1.yh == i2.yh and i1.cc == i2.cc
505505

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