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