Commit for Gitea

source/Helpers/saveManager.py

@@ -0,0 +1,77 @@
+import json
+from pathlib import Path
+import numpy as np
+from Tbd.helper import  CameraObject
+
+def _np_to_list(a: np.ndarray):
+    return None if a is None else a.tolist()
+
+def save_calibration_json(camera_list, file_path: str, logger=None):
+    payload = {
+        "version": 1,
+        "cameras": []
+    }
+
+    for cam in camera_list:
+        payload["cameras"].append({
+            "index": int(cam.index),
+            "pxWidth": int(cam.pxWidth),
+            "pxHeight": int(cam.pxHeight),
+
+            "camera_matrix": _np_to_list(cam.camera_matrix),
+            "distortion_coefficients": _np_to_list(cam.distortion_coefficients),
+
+            "rotation_matrix_world_to_camera": _np_to_list(cam.rotation_matrix_world_to_camera),
+            "translation_vector_world_to_camera": _np_to_list(cam.translation_vector_world_to_camera),
+
+            "camera_projection_matrix": _np_to_list(cam.camera_projection_matrix),
+        })
+
+    Path(file_path).parent.mkdir(parents=True, exist_ok=True)
+    with open(file_path, "w", encoding="utf-8") as f:
+        json.dump(payload, f, indent=2)
+
+    if logger:
+        logger.log(f"[Calibration] Saved calibration to {file_path}")
+
+def _list_to_np(x, shape=None):
+    if x is None:
+        return None
+    a = np.array(x, dtype=np.float64)
+    if shape is not None:
+        a = a.reshape(shape)
+    return a
+
+def load_calibration_json(file_path: str, logger=None):
+    file_path = str(file_path)
+    if not Path(file_path).exists():
+        raise FileNotFoundError(file_path)
+
+    with open(file_path, "r", encoding="utf-8") as f:
+        payload = json.load(f)
+
+    cams = []
+    for c in payload.get("cameras", []):
+        cam = CameraObject(
+            capture=None,
+            index=int(c["index"]),
+            pxWidth=int(c.get("pxWidth", 1536)),
+            pxHeight=int(c.get("pxHeight", 2048)),
+        )
+
+        cam.camera_matrix = _list_to_np(c.get("camera_matrix"), shape=(3,3))
+        cam.distortion_coefficients = _list_to_np(c.get("distortion_coefficients"))  # keep native shape
+
+        cam.rotation_matrix_world_to_camera = _list_to_np(c.get("rotation_matrix_world_to_camera"), shape=(3,3))
+        tv = _list_to_np(c.get("translation_vector_world_to_camera"))
+        if tv is not None:
+            cam.translation_vector_world_to_camera = tv.reshape(3,1)
+
+        cam.camera_projection_matrix = _list_to_np(c.get("camera_projection_matrix"), shape=(3,4))
+        cam.load_video_capture()
+        cams.append(cam)
+
+    if logger:
+        logger.log(f"[Calibration] Loaded calibration from {file_path} ({len(cams)} cameras)")
+
+    return cams