Source code for openalea.phenomenal.calibration.calibration_manual
# -*- python -*-
#
# Copyright INRIA - CIRAD - INRA
#
# Distributed under the Cecill-C License.
# See accompanying file LICENSE.txt or copy at
# http://www.cecill.info/licences/Licence_CeCILL-C_V1-en.html
#
# ==============================================================================
from __future__ import division, print_function, absolute_import
import math
# ==============================================================================
__all__ = ["EnvironmentCamera", "CalibrationCameraManual"]
# ==============================================================================
[docs]
class EnvironmentCamera(object):
[docs]
def __init__(self):
# Dimension image
self.w = 2056
self.h = 2454
# Angle conveyor belt/horizontale (degrees) sur TopImage
self.angTop = 0.6
# Dimension pixel de l'arrete du plancher vu de dessus
self.cTop = 1650
# Distance pixel bord gauche image -> bord gauche boite sur image top
self.dleft_top = 375
# Distance pixel bord haut image -> bord plancher au fond sur image top
self.dback = 228
# Hauteurs (cm) du damier pour mesure effet perspective vu Top
self.hcTop = (4, 180)
# Grande largeur pixels du damier aux hauteurs de calibration
self.lcTop = (384, 720)
# Dimension pixel de l'arrete du plancher au fond de la cabine sur
# photos side
self.cSide = 1166
# Distance pixel sol -> haut image au niveau du fond de la cabine
self.hSide = 1957
# Distance pixel bord gauche image -> bord gauche boite au niveu du
# fond de la cabine
self.dleft = 446
# Distance pixel sol fond de cabine, sol devanture de cabine
self.dhSide = 238
# Grande largeur pixel du damier
self.lcSide = (209.0 * (9.0 / 7.0), 277.0 * (9.0 / 7.0))
# Conversion cm -> pixel pour image side (pixel careau noir / cm
# careau noir) sur le fond
self.convSide = 30 / 3.95
[docs]
class CalibrationCameraManual(object):
[docs]
def __init__(self, env_feat):
# ======================================================================
# Dimension image
self.width_image = env_feat.w
self.height_image = env_feat.h
w = self.width_image
h = self.height_image
w2 = w / 2
h2 = h / 2
# ======================================================================
# Box
self.hbox = env_feat.hSide / env_feat.convSide
self.cbox = env_feat.cSide / env_feat.convSide
# ======================================================================
# X0, Y0, Z0
self.xo = (w2 - env_feat.dleft) / env_feat.convSide
self.yo = self.cbox / 2
self.zo = (h2 - (h - env_feat.hSide)) / env_feat.convSide
# ======================================================================
# Top scale ground level (pix / cm)
conv_top = env_feat.convSide / env_feat.cSide * env_feat.cTop
# XT, YT, ZT
self.xt = (h2 - env_feat.dleft_top) / conv_top
self.yt = (w2 - (w - env_feat.dback - env_feat.cTop)) / conv_top
self.zt = self.zo
# ======================================================================
# Enlargement factor
gamma = env_feat.lcSide[1] / env_feat.lcSide[0]
self.pSide = env_feat.convSide * (gamma - 1) / self.cbox
# ======================================================================
# hcTop[1] scale level
cTop = env_feat.lcTop[0] / env_feat.lcSide[0] * env_feat.convSide
gamma = env_feat.lcTop[1] / env_feat.lcTop[0]
self.pTop = cTop * (gamma - 1) / (env_feat.hcTop[0] - env_feat.hcTop[1])
# ======================================================================
# Scale level 0
self.conv_top_ref = conv_top + self.pTop * self.zo
self.conv_side_ref = env_feat.convSide + self.pSide * self.cbox / 2
self.rotationTop = -env_feat.angTop
def top_projection(self, position):
# coordinates / optical center in real world
x = position[0] - self.xt
y = position[1] - self.yt
z = position[2] - self.zt
# scale at this distance
conv = self.conv_top_ref + z * self.pTop
# image coordinates / optical center and real world oriented axes
ximo = x * conv
yimo = y * conv
# image coordinates
xim = round(self.height_image / 2 + ximo)
yim = round(self.width_image / 2 - yimo)
return (min(self.height_image, max(1, xim)), min(self.width_image, max(1, yim)))
def side_projection(self, position):
# coordinates / optical center in real world
x = position[0] - self.xo
y = position[1] - self.yo
z = position[2] - self.zo
# scale at this distance
conv = self.conv_side_ref - y * self.pSide
# image coordinates / optical center and real world oriented axes
ximo = x * conv
yimo = z * conv
# EBI image coordinates
xim = round(self.width_image / 2.0 + ximo)
yim = round(self.height_image / 2.0 - yimo)
return (min(self.width_image, max(0, xim)), min(self.height_image, max(0, yim)))
def side_rotation(self, position, angle):
t = -angle / 180.0 * math.pi
cbox2 = self.cbox / 2.0
sint = math.sin(t)
cost = math.cos(t)
x = position[0] - cbox2
y = position[1] - cbox2
tmp_x = cost * x - sint * y
tmp_y = sint * x + cost * y
return tmp_x + cbox2, tmp_y + cbox2, position[2]
def project_point(self, point, angle):
if angle == -1:
return self.top_projection(point)
else:
if angle != 0:
point = self.side_rotation(point, angle)
x, y = self.side_projection(point)
return x, y
def get_projection(self, angle):
return lambda pt3d: self.project_point(pt3d, angle)
