Ciclop开源3D扫描仪软件---Horus源码分析之src\horus\engine\calibration\calibration_data.py

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# -*- coding: utf-8 -*-
# This file is part of the Horus Project

__author__ = 'Jes煤s Arroyo Torrens <jesus.arroyo@bq.com>'
__copyright__ = 'Copyright (C) 2014-2016 Mundo Reader S.L.'
__license__ = 'GNU General Public License v2 http://www.gnu.org/licenses/gpl2.html' 
import md5
import cv2
import numpy as np

from horus import Singleton

class LaserPlane(object):

def __init__(self):
self.normal = None
self.distance = None

@Singleton
class CalibrationData(object):

def __init__(self):
self.width = 0
self.height = 0

self._camera_matrix = None
self._distortion_vector = None
self._roi = None
self._dist_camera_matrix = None
self._weight_matrix = None

self._md5_hash = None

self.laser_planes = [LaserPlane(), LaserPlane()]
self.platform_rotation = None
self.platform_translation = None

def set_resolution(self, width, height):
if self.width != width or self.height != height:
self.width = width
self.height = height
self._compute_weight_matrix()

@property
def camera_matrix(self):
return self._camera_matrix

@camera_matrix.setter
def camera_matrix(self, value):
self._camera_matrix = value
self._compute_dist_camera_matrix()

@property
def distortion_vector(self):
return self._distortion_vector

@distortion_vector.setter
def distortion_vector(self, value):
self._distortion_vector = value
self._compute_dist_camera_matrix()

@property
def roi(self):
return self._roi

@property
def dist_camera_matrix(self):
return self._dist_camera_matrix

@property
def weight_matrix(self):
return self._weight_matrix

def _compute_dist_camera_matrix(self):
if self._camera_matrix is not None and self._distortion_vector is not None:
self._dist_camera_matrix, self._roi = cv2.getOptimalNewCameraMatrix(
self._camera_matrix, self._distortion_vector,
(int(self.width), int(self.height)), alpha=1)
self._md5_hash = md5.new()
self._md5_hash.update(self._camera_matrix)
self._md5_hash.update(self._distortion_vector)
self._md5_hash = self._md5_hash.hexdigest()

def _compute_weight_matrix(self):
self._weight_matrix = np.array((np.matrix(np.linspace(0, self.width - 1, self.width)).T *
np.matrix(np.ones(self.height))).T)

def check_calibration(self):
if self.camera_matrix is None or self.distortion_vector is None:
return False
for plane in self.laser_planes:
if plane.distance is None or plane.normal is None:
return False
if plane.distance == 0.0 or self._is_zero(plane.normal):
return False
if self.platform_rotation is None or self.platform_translation is None:
return False
if self._is_zero(self.platform_rotation) or self._is_zero(self.platform_translation):
return False
return True

def _is_zero(self, array):
return np.all(array == 0.0)

def md5_hash(self):
return self._md5_hash

# -*- coding: utf-8 -*-
# This file is part of the Horus Project

__author__ = 'Jes煤s Arroyo Torrens <jesus.arroyo@bq.com>'
__copyright__ = 'Copyright (C) 2014-2016 Mundo Reader S.L.'
__license__ = 'GNU General Public License v2 http://www.gnu.org/licenses/gpl2.html'
import md5
import cv2
import numpy as np

from horus import Singleton

class LaserPlane(object):

def __init__(self):##初始化类
self.normal = None
self.distance = None

@Singleton
class CalibrationData(object):##初始化标定数据

def __init__(self):
self.width = 0##宽
self.height = 0##高

self._camera_matrix = None##摄像头图像矩阵
self._distortion_vector = None##旋转向量
self._roi = None##感兴趣区域
self._dist_camera_matrix = None##摄像头矩阵距离
self._weight_matrix = None##宽度矩阵

self._md5_hash = None##MD5哈希矩阵

self.laser_planes = [LaserPlane(), LaserPlane()]##左右激光
self.platform_rotation = None
self.platform_translation = None

def set_resolution(self, width, height):
if self.width != width or self.height != height:
self.width = width
self.height = height
self._compute_weight_matrix()

@property
def camera_matrix(self):##摄像头矩阵
return self._camera_matrix

@camera_matrix.setter
def camera_matrix(self, value):##摄像头矩阵值
self._camera_matrix = value
self._compute_dist_camera_matrix()

@property
def distortion_vector(self):##旋转矩阵
return self._distortion_vector

@distortion_vector.setter
def distortion_vector(self, value):##旋转矩阵的值
self._distortion_vector = value
self._compute_dist_camera_matrix()

@property
def roi(self):
return self._roi

@property
def dist_camera_matrix(self):##摄像头矩阵距离
return self._dist_camera_matrix

@property
def weight_matrix(self):
return self._weight_matrix

def _compute_dist_camera_matrix(self):
if self._camera_matrix is not None and self._distortion_vector is not None:
self._dist_camera_matrix, self._roi = cv2.getOptimalNewCameraMatrix(##getOptimalNewCameraMatrix得到自由比例参数的新摄像机矩阵
self._camera_matrix, self._distortion_vector,
(int(self.width), int(self.height)), alpha=1)
self._md5_hash = md5.new()
self._md5_hash.update(self._camera_matrix)
self._md5_hash.update(self._distortion_vector)
self._md5_hash = self._md5_hash.hexdigest()

def _compute_weight_matrix(self):
self._weight_matrix = np.array((np.matrix(np.linspace(0, self.width - 1, self.width)).T *
np.matrix(np.ones(self.height))).T)

def check_calibration(self):
if self.camera_matrix is None or self.distortion_vector is None:
return False
for plane in self.laser_planes:
if plane.distance is None or plane.normal is None:
return False
if plane.distance == 0.0 or self._is_zero(plane.normal):
return False
if self.platform_rotation is None or self.platform_translation is None:
return False
if self._is_zero(self.platform_rotation) or self._is_zero(self.platform_translation):
return False
return True

def _is_zero(self, array):
return np.all(array == 0.0)

def md5_hash(self):
return self._md5_hash