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