openalea.phenomenal.calibration.calibration.find_frame

openalea.phenomenal.calibration.calibration.find_frame(projections, image_points, frame_points, fixed_parameters=None, start=None)

Find Frame parameters and 3D local (frame based) coordinates of points from paired image coordinates

Parameters:

• image_points – a {camera_id: [(u1,v1),…], …} dict of list of pixel coordinates of frame points

• frame_points – an array-like list of 3D points coordinates, expressed in local coordinate of the searched frame. keywords ‘x’, ‘y’ and ‘z’ can be used to specify an unknown coordinate

• fixed_parameters – a {parameter_name: value} dict of fixed (unfitted) frame parameters. Valid parameters names are ‘_pos_x’, ‘_pos_y’, ‘_pos_z’, ‘_rot_x’, ‘_rot_y’, ‘_rot_z’ start : a frame to be used as guess

Returns:

A CalibrationFrame and the list of 3D coordinates matching frame_points