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Add tool for rescaling camera info file

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Generate fisheye_cam camera info for all the
different resolutions
This commit is contained in:
Oleg Kalachev
2024-06-16 08:33:25 +03:00
parent b7e8acefb4
commit b04d8311bd
9 changed files with 588 additions and 0 deletions
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65
clover/camera_info/fisheye_cam_1280x720.yaml Normal file
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# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 415.5985593268293
- 0.0
- 400.0
- 0.0
- 312.35267324512984
- 225.0
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 720
image_width: 1280
projection_matrix:
cols: 4
data:
- 415.5985593268293
- 0.0
- 405.4752811707317
- 0.0
- 0.0
- 312.35267324512984
- 205.91677004464282
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_1920x1080.yaml Normal file
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# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 1246.7956779804879
- 0.0
- 1200.0
- 0.0
- 702.7935148015422
- 506.25
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 1080
image_width: 1920
projection_matrix:
cols: 4
data:
- 1246.7956779804879
- 0.0
- 1216.4258435121951
- 0.0
- 0.0
- 702.7935148015422
- 463.31273260044634
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_2592x1944.yaml Normal file
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# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 5049.522495820976
- 0.0
- 4860.0
- 0.0
- 2846.313734946246
- 2050.3125
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 1944
image_width: 2592
projection_matrix:
cols: 4
data:
- 5049.522495820976
- 0.0
- 4926.52466622439
- 0.0
- 0.0
- 2846.313734946246
- 1876.4165670318075
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_320x240.yaml Normal file
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@@ -0,0 +1,65 @@
# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 166.23942373073172
- 0.0
- 160.0
- 0.0
- 166.5880923974026
- 120.0
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 240
image_width: 320
projection_matrix:
cols: 4
data:
- 166.23942373073172
- 0.0
- 162.19011246829268
- 0.0
- 0.0
- 166.5880923974026
- 109.82227735714285
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_3840x2160.yaml Normal file
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@@ -0,0 +1,65 @@
# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 30297.13497492585
- 0.0
- 29160.0
- 0.0
- 12808.411807258106
- 9226.40625
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 2160
image_width: 3840
projection_matrix:
cols: 4
data:
- 30297.13497492585
- 0.0
- 29559.14799734634
- 0.0
- 0.0
- 12808.411807258106
- 8443.874551643134
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_4056x3040.yaml Normal file
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# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 192008.0929035926
- 0.0
- 184801.5
- 0.0
- 81119.941445968
- 58433.90625
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 3040
image_width: 4056
projection_matrix:
cols: 4
data:
- 192008.0929035926
- 0.0
- 187331.10043318244
- 0.0
- 0.0
- 81119.941445968
- 53477.87216040651
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_640x480.yaml Normal file
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@@ -0,0 +1,65 @@
# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 166.23942373073172
- 0.0
- 160.0
- 0.0
- 166.5880923974026
- 120.0
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 480
image_width: 640
projection_matrix:
cols: 4
data:
- 166.23942373073172
- 0.0
- 162.19011246829268
- 0.0
- 0.0
- 166.5880923974026
- 109.82227735714285
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

65
clover/camera_info/fisheye_cam_800x600.yaml Normal file
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@@ -0,0 +1,65 @@
# Generated from fisheye_cam.yaml by rescale_camera_info.py
camera_matrix:
cols: 3
data:
- 207.79927966341464
- 0.0
- 200.0
- 0.0
- 208.23511549675322
- 150.0
- 0.0
- 0.0
- 1.0
rows: 3
camera_name: main_camera_optical
distortion_coefficients:
cols: 8
data:
- 0.215356885
- -0.117472846
- -0.000306197672
- -0.000109444025
- -0.00453657258
- 0.573090623
- -0.127574577
- -0.0286125589
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rows: 1
distortion_model: plumb_bob
image_height: 600
image_width: 800
projection_matrix:
cols: 4
data:
- 207.79927966341464
- 0.0
- 202.73764058536585
- 0.0
- 0.0
- 208.23511549675322
- 137.27784669642855
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
rows: 3
rectification_matrix:
cols: 3
data:
- 1
- 0
- 0
- 0
- 1
- 0
- 0
- 0
- 1
rows: 3

68
clover/tools/rescale_camera_info.py Executable file
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@@ -0,0 +1,68 @@
#!/usr/bin/env python3
# Copyright (C) 2024 Copter Express Technologies
#
# Author: Oleg Kalachev <okalachev@gmail.com>
#
# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
"""Rescale camera info
Rescale camera info files for different resolutions.
Usage:
rescale_camera_info.py <camera_info_file>
rescale_camera_info.py (-h | --help)
Options:
<camera_info_file> Path to the source camera info file
Example:
rescale_camera_info.py camera_info.yaml
"""
from docopt import docopt
import yaml
arguments = docopt(__doc__)
camera_info = yaml.safe_load(open(arguments['<camera_info_file>']))
RESOLUTIONS = (
(320, 240), # QVGA
(640, 480), # VGA
(800, 600), # SVGA
(1280, 720), # HD
(1920, 1080), # FullHD
(2592, 1944), # 5MP
(3840, 2160), # 4K
(4056, 3040),
)
# TODO: retrieve resolutions list (v4l2-ctl --list-formats-ext)
for resolution in RESOLUTIONS:
width_k = resolution[0] / camera_info['image_width']
height_k = resolution[1] / camera_info['image_height']
camera_info_rescaled = camera_info.copy()
camera_info_rescaled['image_width'] = resolution[0]
camera_info_rescaled['image_height'] = resolution[1]
# See http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html for clarification
camera_info_rescaled['camera_matrix']['data'][0] *= width_k
camera_info_rescaled['camera_matrix']['data'][2] *= width_k
camera_info_rescaled['camera_matrix']['data'][4] *= height_k
camera_info_rescaled['camera_matrix']['data'][5] *= height_k
camera_info_rescaled['projection_matrix']['data'][0] *= width_k
camera_info_rescaled['projection_matrix']['data'][2] *= width_k
camera_info_rescaled['projection_matrix']['data'][5] *= height_k
camera_info_rescaled['projection_matrix']['data'][6] *= height_k
output_file = arguments['<camera_info_file>'].replace('.yaml', '_{}x{}.yaml'.format(resolution[0], resolution[1]))
with open(output_file, 'w') as f:
f.write('# Generated from {} by rescale_camera_info.py\n'.format(arguments['<camera_info_file>']))
yaml.dump(camera_info_rescaled, f)
print('Saved {}'.format(output_file))