From 8f16831f2886fba451a1e79a600bc826acb96e13 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 20 Jan 2020 08:37:00 +0200
Subject: [PATCH] python: params from K
---
python/ftl/misc.py | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/python/ftl/misc.py b/python/ftl/misc.py
index 2a6c940cc..cde61b973 100644
--- a/python/ftl/misc.py
+++ b/python/ftl/misc.py
@@ -1,4 +1,5 @@
import numpy as np
+from . ftltype import Camera
def get_camera_matrix(calib):
K = np.identity(3, dtype=np.float64)
@@ -41,6 +42,12 @@ def depth_to_disparity(depth, camera, invalid_value=0.0):
return disparity
class Calibration:
+ @staticmethod
+ def from_K(K, size, min_depth=0.0, max_depth=100.0, baseline=0.0, doff=0.0):
+ calib = Camera._make([K[0,0], K[1,1], K[0,2], K[1,2], size[1], size[0],
+ min_depth, max_depth, baseline, doff])
+ return Calibration(calib, None, None)
+
def __init__(self, calib, channel, capabilities):
self._calib = calib
self._capabilities = capabilities
@@ -64,7 +71,7 @@ def point3d(calib, u, v, d):
return np.array([(u+calib.cx)*d/calib.fx, (v+calib.cy)*d / calib.fy, d], dtype=np.float)
-def depth_image_to_3D(depth, calib):
+def depth_image_to_3d(depth, calib):
""" Calculate 3D points from depth image and calibration paramters
@param depth depth image
@param calib calibration paramters
--
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