photoscan_outputs 0.0.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- checksums.yaml +7 -0
- data/.gitignore +17 -0
- data/Gemfile +5 -0
- data/LICENSE +22 -0
- data/README.md +33 -0
- data/Rakefile +10 -0
- data/demo/cameras.xml +299 -0
- data/demo/parse_cameras +33 -0
- data/demo/point +70 -0
- data/lib/photoscan_outputs/camera.rb +175 -0
- data/lib/photoscan_outputs/camera_file.rb +49 -0
- data/lib/photoscan_outputs/version.rb +3 -0
- data/lib/photoscan_outputs.rb +7 -0
- data/photoscan_outputs.gemspec +25 -0
- data/test/load_file_test.rb +18 -0
- metadata +115 -0
checksums.yaml
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---
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SHA1:
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metadata.gz: 25904f3b8fba33b0149a2e7340a8c5c906838ea0
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data.tar.gz: dff0ab70fbb174768344fd99c0b0a1bea6c5ae28
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SHA512:
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metadata.gz: f050e0944859cc8522c46cac44da3f126ab98f57800297cc5453fe5daead51d0956502648859209b8065b55557a46c77486e26c4756cddb2c2e307a4d5c9f564
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data.tar.gz: 5650def2dfe939aeab7aee087214043a4473a81fb4646dbb2c65f66ec2f2393d4977357aa9f2534cfcd10c61560082fd018fb58437d9de29f679372ccfcb343f
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data/.gitignore
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data/Gemfile
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data/LICENSE
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Copyright (c) 2014 Aaron Marburg
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MIT License
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Permission is hereby granted, free of charge, to any person obtaining
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a copy of this software and associated documentation files (the
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"Software"), to deal in the Software without restriction, including
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without limitation the rights to use, copy, modify, merge, publish,
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distribute, sublicense, and/or sell copies of the Software, and to
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permit persons to whom the Software is furnished to do so, subject to
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the following conditions:
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The above copyright notice and this permission notice shall be
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included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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data/README.md
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# photoscan_outputs
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A simple gem to load and parse the various output files which are generate
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by the [Photoscan](http://www.agisoft.ru/products/photoscan/)
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reconstruction/photogrammetry software from
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[Agisoft.](http://www.agisoft.ru)
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Please note I am currently testing against Photoscan Professional
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version 0.9.0.1586.
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At present the Gem only parses the camera XML files generated by "Export
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-> Cameras" (sorry, it's all I need at this point). I'm happy to merge
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in support for the other export (and import) file formats.
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## Installation
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Add this line to your application's Gemfile:
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gem 'photoscan_outputs'
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And then execute:
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$ bundle
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Or install it yourself as:
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$ gem install photoscan_outputs
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## Usage
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See the demo applications in demo/
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data/Rakefile
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data/demo/cameras.xml
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<?xml version="1.0" encoding="UTF-8"?>
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<collection>
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<cameras>
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<camera label="IMG_7618.jpg">
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<resolution width="972" height="648"/>
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<calibration>
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</camera>
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<skew>-8.6319592049510652e-001</skew>
|
|
158
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
159
|
+
<k2>7.5676071357423513e-001</k2>
|
|
160
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
161
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
162
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
163
|
+
</calibration>
|
|
164
|
+
<transform>9.9942928868384739e-001 -3.1607953746682869e-002 -1.1917809397974041e-002 1.4989577460907832e-001 2.9829737771353587e-002 9.9136114115572971e-001 -1.2772342992145849e-001 9.4489958557760867e-001 1.5851929390177176e-002 1.2729503158551395e-001 9.9173821710583077e-001 4.4156530649216508e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
165
|
+
</camera>
|
|
166
|
+
<camera label="IMG_7652.jpg">
|
|
167
|
+
<resolution width="972" height="648"/>
|
|
168
|
+
<calibration>
|
|
169
|
+
<width>972</width>
|
|
170
|
+
<height>648</height>
|
|
171
|
+
<fx>1.8707469131103019e+003</fx>
|
|
172
|
+
<fy>1.8738616128634769e+003</fy>
|
|
173
|
+
<cx>5.2586579873845619e+002</cx>
|
|
174
|
+
<cy>4.0083738488303931e+002</cy>
|
|
175
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
176
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
177
|
+
<k2>7.5676071357423513e-001</k2>
|
|
178
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
179
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
180
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
181
|
+
</calibration>
|
|
182
|
+
<transform>-9.7820830084418986e-001 -1.6610725820767722e-001 -1.2456684522877992e-001 3.4887451129890107e-001 2.0010400438170020e-001 -9.1427099603148332e-001 -3.5223136323446241e-001 1.3383829123060498e+000 -5.5379667658187248e-002 -3.6948196787709048e-001 9.2758620506330358e-001 4.9061174685682785e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
183
|
+
</camera>
|
|
184
|
+
<camera label="IMG_7653.jpg">
|
|
185
|
+
<resolution width="972" height="648"/>
|
|
186
|
+
<calibration>
|
|
187
|
+
<width>972</width>
|
|
188
|
+
<height>648</height>
|
|
189
|
+
<fx>1.8707469131103019e+003</fx>
|
|
190
|
+
<fy>1.8738616128634769e+003</fy>
|
|
191
|
+
<cx>5.2586579873845619e+002</cx>
|
|
192
|
+
<cy>4.0083738488303931e+002</cy>
|
|
193
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
194
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
195
|
+
<k2>7.5676071357423513e-001</k2>
|
|
196
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
197
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
198
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
199
|
+
</calibration>
|
|
200
|
+
<transform>-9.7839987037768705e-001 -1.8455517231586849e-001 -9.3129383206296934e-002 2.9565895830542449e-001 2.0625061786669885e-001 -9.0188359314954736e-001 -3.7956115059008172e-001 1.2041343917721126e+000 -1.3941889202334377e-002 -3.9057057336558504e-001 9.2046740895392332e-001 4.5444368890461845e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
201
|
+
</camera>
|
|
202
|
+
<camera label="IMG_7654.jpg">
|
|
203
|
+
<resolution width="972" height="648"/>
|
|
204
|
+
<calibration>
|
|
205
|
+
<width>972</width>
|
|
206
|
+
<height>648</height>
|
|
207
|
+
<fx>1.8707469131103019e+003</fx>
|
|
208
|
+
<fy>1.8738616128634769e+003</fy>
|
|
209
|
+
<cx>5.2586579873845619e+002</cx>
|
|
210
|
+
<cy>4.0083738488303931e+002</cy>
|
|
211
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
212
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
213
|
+
<k2>7.5676071357423513e-001</k2>
|
|
214
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
215
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
216
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
217
|
+
</calibration>
|
|
218
|
+
<transform>-9.7550502444367981e-001 -1.9892699298582306e-001 -9.3904199835545377e-002 2.7479539563603050e-001 2.1874772718137020e-001 -9.2229516787832622e-001 -3.1862368895183385e-001 9.8816550707499695e-001 -2.3224537414565684e-002 -3.3136033976610485e-001 9.4321839787610706e-001 3.9697273531447702e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
219
|
+
</camera>
|
|
220
|
+
<camera label="IMG_7655.jpg">
|
|
221
|
+
<resolution width="972" height="648"/>
|
|
222
|
+
<calibration>
|
|
223
|
+
<width>972</width>
|
|
224
|
+
<height>648</height>
|
|
225
|
+
<fx>1.8707469131103019e+003</fx>
|
|
226
|
+
<fy>1.8738616128634769e+003</fy>
|
|
227
|
+
<cx>5.2586579873845619e+002</cx>
|
|
228
|
+
<cy>4.0083738488303931e+002</cy>
|
|
229
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
230
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
231
|
+
<k2>7.5676071357423513e-001</k2>
|
|
232
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
233
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
234
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
235
|
+
</calibration>
|
|
236
|
+
<transform>-9.7180956362178894e-001 -1.9439190618113866e-001 -1.3340899094323269e-001 2.7804858706995900e-001 2.2216153649895798e-001 -9.4446757821157656e-001 -2.4212650703213340e-001 7.6645869949757039e-001 -7.8933033348847853e-002 -2.6493920155088974e-001 9.6102902959688330e-001 3.5012064711110896e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
237
|
+
</camera>
|
|
238
|
+
<camera label="IMG_7656.jpg">
|
|
239
|
+
<resolution width="972" height="648"/>
|
|
240
|
+
<calibration>
|
|
241
|
+
<width>972</width>
|
|
242
|
+
<height>648</height>
|
|
243
|
+
<fx>1.8707469131103019e+003</fx>
|
|
244
|
+
<fy>1.8738616128634769e+003</fy>
|
|
245
|
+
<cx>5.2586579873845619e+002</cx>
|
|
246
|
+
<cy>4.0083738488303931e+002</cy>
|
|
247
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
248
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
249
|
+
<k2>7.5676071357423513e-001</k2>
|
|
250
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
251
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
252
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
253
|
+
</calibration>
|
|
254
|
+
<transform>-9.7464812449045679e-001 -1.5623188378533115e-001 -1.6016439028736024e-001 2.7971726219048454e-001 1.9165133687418667e-001 -9.5234540151881220e-001 -2.3729307044309017e-001 6.0996542075537263e-001 -1.1545907717270255e-001 -2.6197296558015126e-001 9.5814370884725242e-001 3.2255907578697951e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
255
|
+
</camera>
|
|
256
|
+
<camera label="IMG_7657.jpg">
|
|
257
|
+
<resolution width="972" height="648"/>
|
|
258
|
+
<calibration>
|
|
259
|
+
<width>972</width>
|
|
260
|
+
<height>648</height>
|
|
261
|
+
<fx>1.8707469131103019e+003</fx>
|
|
262
|
+
<fy>1.8738616128634769e+003</fy>
|
|
263
|
+
<cx>5.2586579873845619e+002</cx>
|
|
264
|
+
<cy>4.0083738488303931e+002</cy>
|
|
265
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
266
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
267
|
+
<k2>7.5676071357423513e-001</k2>
|
|
268
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
269
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
270
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
271
|
+
</calibration>
|
|
272
|
+
<transform>-9.7955798936859784e-001 -9.9802520741764128e-002 -1.7465853061828876e-001 2.8145559243671753e-001 1.4642368683748003e-001 -9.4909870698574350e-001 -2.7887586545075799e-001 4.8948776405639516e-001 -1.3793567122782105e-001 -2.9874922803511889e-001 9.4431067416997450e-001 2.9676650737131621e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
273
|
+
</camera>
|
|
274
|
+
<camera label="IMG_7658.jpg">
|
|
275
|
+
<resolution width="972" height="648"/>
|
|
276
|
+
<calibration>
|
|
277
|
+
<width>972</width>
|
|
278
|
+
<height>648</height>
|
|
279
|
+
<fx>1.8707469131103019e+003</fx>
|
|
280
|
+
<fy>1.8738616128634769e+003</fy>
|
|
281
|
+
<cx>5.2586579873845619e+002</cx>
|
|
282
|
+
<cy>4.0083738488303931e+002</cy>
|
|
283
|
+
<skew>-8.6319592049510652e-001</skew>
|
|
284
|
+
<k1>-1.6675726916786160e-001</k1>
|
|
285
|
+
<k2>7.5676071357423513e-001</k2>
|
|
286
|
+
<k3>-2.1665527393930941e+000</k3>
|
|
287
|
+
<p1>-1.4556415480751863e-003</p1>
|
|
288
|
+
<p2>-5.2912191800171066e-005</p2>
|
|
289
|
+
</calibration>
|
|
290
|
+
<transform>-9.7946896579623943e-001 -1.5342530714685727e-002 -2.0101032757874407e-001 3.0616146468203392e-001 7.1705812807688535e-002 -9.5840694057764930e-001 -2.7625063377697240e-001 3.0789882933411478e-001 -1.8841130924558061e-001 -2.8499253148786047e-001 9.3983000353495205e-001 2.6267990531094587e-001 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
291
|
+
</camera>
|
|
292
|
+
</cameras>
|
|
293
|
+
<transform>2.7694900329729840e+001 2.5392011594365184e+002 5.4118470162177800e+001 6.6670066415987478e+005 2.5949821314888629e+002 -2.8762442620351280e+001 2.1542666622218207e+000 5.4456422027225094e+006 8.0567652359546997e+000 5.3558736089261856e+001 -2.5541689826685177e+002 4.6848797492713061e+002 0.0000000000000000e+000 0.0000000000000000e+000 0.0000000000000000e+000 1.0000000000000000e+000</transform>
|
|
294
|
+
<region>
|
|
295
|
+
<center>4.6769198108370075e-002 1.6672089950935109e-001 1.8757319005504849e+000</center>
|
|
296
|
+
<size>2.0527148246765137e+000 1.1775308847427368e+000 2.6224559545516968e-001</size>
|
|
297
|
+
<R>-1.8076817302331005e-001 -9.6340638630316500e-001 -1.9791665531756450e-001 -9.8137346285726212e-001 1.8998827486136224e-001 -2.8470718549935770e-002 6.5030715983763018e-002 1.8908355360919263e-001 -9.7980529480767686e-001</R>
|
|
298
|
+
</region>
|
|
299
|
+
</collection>
|
data/demo/parse_cameras
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
1
|
+
#!/usr/bin/env ruby
|
|
2
|
+
|
|
3
|
+
require "trollop"
|
|
4
|
+
require "ox"
|
|
5
|
+
require "pathname"
|
|
6
|
+
|
|
7
|
+
require "photoscan_outputs"
|
|
8
|
+
include PhotoscanOutputs
|
|
9
|
+
|
|
10
|
+
opts = Trollop.options do
|
|
11
|
+
opt :camera_file, "Location of camera file.", :default => Pathname.new(__FILE__).parent.join("cameras.xml").to_s
|
|
12
|
+
end
|
|
13
|
+
|
|
14
|
+
Trollop::die "Can't find camera file #{opts[:camera_file]}" unless File.readable? opts[:camera_file]
|
|
15
|
+
|
|
16
|
+
cameras = CameraFile.load( opts[:camera_file] )
|
|
17
|
+
|
|
18
|
+
unless ARGV.length > 0
|
|
19
|
+
puts "Specify name(s) of cameras to show on the command line. Since you haven't specified a camera, I'll show you \"IMG_7625.jpg\""
|
|
20
|
+
ARGV.push "IMG_7625.jpg"
|
|
21
|
+
end
|
|
22
|
+
|
|
23
|
+
ARGV.each { |camera_name|
|
|
24
|
+
|
|
25
|
+
cam = cameras.find_by_name camera_name
|
|
26
|
+
|
|
27
|
+
unless cam
|
|
28
|
+
puts "Couldn't find a camera named \"#{camera_name}\""
|
|
29
|
+
next
|
|
30
|
+
end
|
|
31
|
+
|
|
32
|
+
cam.dump
|
|
33
|
+
}
|
data/demo/point
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
1
|
+
#!/usr/bin/env ruby
|
|
2
|
+
#
|
|
3
|
+
#
|
|
4
|
+
|
|
5
|
+
require "trollop"
|
|
6
|
+
require "ox"
|
|
7
|
+
require "photoscan_outputs"
|
|
8
|
+
include PhotoscanOutputs
|
|
9
|
+
|
|
10
|
+
|
|
11
|
+
opts = Trollop.options do
|
|
12
|
+
opt :camera_file, "Location of camera file.", :default => Pathname.new(__FILE__).parent.join("cameras.xml").to_s
|
|
13
|
+
end
|
|
14
|
+
|
|
15
|
+
class Matrix
|
|
16
|
+
def print( opts = {} )
|
|
17
|
+
puts opts[:caption] if opts[:caption]
|
|
18
|
+
to_a.each { |row|
|
|
19
|
+
puts row.map { |x| "%12.4f" % x }.join(' ')
|
|
20
|
+
}
|
|
21
|
+
end
|
|
22
|
+
end
|
|
23
|
+
|
|
24
|
+
class Vector
|
|
25
|
+
def print( opts = {} )
|
|
26
|
+
puts opts[:caption] if opts[:caption]
|
|
27
|
+
puts to_a.map { |x| "%12.4f" % x }.join(' ')
|
|
28
|
+
end
|
|
29
|
+
end
|
|
30
|
+
|
|
31
|
+
|
|
32
|
+
raise "Can't find #{opts[:camera_file]}" unless File.readable? opts[:camera_file]
|
|
33
|
+
|
|
34
|
+
cameras = CameraFile.load( opts[:camera_file] )
|
|
35
|
+
|
|
36
|
+
name = "IMG_7622.jpg"
|
|
37
|
+
cam = cameras.find_by_name( name )
|
|
38
|
+
Trollop::die "Can't find image #{name}" unless cam
|
|
39
|
+
|
|
40
|
+
puts "Camera projection matrix is"
|
|
41
|
+
cam.calibration.k.print
|
|
42
|
+
|
|
43
|
+
puts "Total transform from camera to world origin is"
|
|
44
|
+
cam.transform.dump
|
|
45
|
+
|
|
46
|
+
# From the model used to generate cameras.xml, I know the ground control point "P1"
|
|
47
|
+
# appears in IMG_7622.jpg at "img_pt"
|
|
48
|
+
p1 = Vector[ 666813.226289, 5445609.922365, 0.782823, 1 ]
|
|
49
|
+
img_pt = Vector[299.3, 306.8, 1]
|
|
50
|
+
|
|
51
|
+
puts
|
|
52
|
+
p1.print(caption: "The control point at")
|
|
53
|
+
img_pt.print(caption: "appears in the image at:")
|
|
54
|
+
|
|
55
|
+
puts "Transform from world to body is then:"
|
|
56
|
+
world_to_body = cam.transform.inv
|
|
57
|
+
world_to_body.dump
|
|
58
|
+
|
|
59
|
+
p1_b = world_to_body * p1
|
|
60
|
+
p1_b.print(caption: "The control point in the body frame is")
|
|
61
|
+
|
|
62
|
+
# Convert to inhomogeneous quantity
|
|
63
|
+
p1_b_inhom = Vector.elements( p1_b.to_a.first(3) )
|
|
64
|
+
p1_img = cam.calibration.k * p1_b_inhom
|
|
65
|
+
p1_img = p1_img.map { |x| x / p1_img[2] }
|
|
66
|
+
|
|
67
|
+
p1_img.print(caption: "It appears at the image at:")
|
|
68
|
+
|
|
69
|
+
|
|
70
|
+
|
|
@@ -0,0 +1,175 @@
|
|
|
1
|
+
require "matrix"
|
|
2
|
+
|
|
3
|
+
module PhotoscanOutputs
|
|
4
|
+
|
|
5
|
+
def print_mat( mat, io = STDOUT )
|
|
6
|
+
mat.to_a.each { |row| io.puts row.map { |x| "% 10.5f" % x }.join(' ') }
|
|
7
|
+
end
|
|
8
|
+
|
|
9
|
+
class Calibration
|
|
10
|
+
attr_accessor :fx, :fy, :cx, :cy, :skew
|
|
11
|
+
|
|
12
|
+
def initialize( fx, fy, cx, cy, skew )
|
|
13
|
+
@fx = fx
|
|
14
|
+
@fy = fy
|
|
15
|
+
@cx = cx
|
|
16
|
+
@cy = cy
|
|
17
|
+
@skew = skew
|
|
18
|
+
end
|
|
19
|
+
|
|
20
|
+
def k
|
|
21
|
+
Matrix.rows [ [ @fx, @skew, @cx ], [ 0, @fy, @cy ], [0,0,1] ]
|
|
22
|
+
end
|
|
23
|
+
|
|
24
|
+
def dump( io )
|
|
25
|
+
[ :fx, :fy, :cx, :cy, :skew ].each { |key|
|
|
26
|
+
io.puts " %10s: %10f" % [key.to_s, send(key)]
|
|
27
|
+
}
|
|
28
|
+
io.puts "Camera projection matrix:"
|
|
29
|
+
print_mat( k, io )
|
|
30
|
+
end
|
|
31
|
+
|
|
32
|
+
|
|
33
|
+
def self.from_xml( xml )
|
|
34
|
+
Calibration.new( xml.fx.text.to_f, xml.fy.text.to_f,
|
|
35
|
+
xml.cx.text.to_f, xml.cy.text.to_f,
|
|
36
|
+
xml.skew.text.to_f )
|
|
37
|
+
end
|
|
38
|
+
end
|
|
39
|
+
|
|
40
|
+
class Resolution
|
|
41
|
+
attr_reader :h, :w
|
|
42
|
+
alias_method :height, :h
|
|
43
|
+
alias_method :width, :w
|
|
44
|
+
|
|
45
|
+
def initialize( w, h )
|
|
46
|
+
@w = w
|
|
47
|
+
@h = h
|
|
48
|
+
end
|
|
49
|
+
|
|
50
|
+
def self.from_xml( xml )
|
|
51
|
+
w = xml.width
|
|
52
|
+
h = xml.height
|
|
53
|
+
Resolution.new( w, h )
|
|
54
|
+
end
|
|
55
|
+
end
|
|
56
|
+
|
|
57
|
+
# "Transform" is the 3D homogeneous transform from camera to world.
|
|
58
|
+
# That is, T * [0 0 0 1]^T (the origin of the camera frame)
|
|
59
|
+
# yields the camera's position in world coordinate frame
|
|
60
|
+
#
|
|
61
|
+
# Or
|
|
62
|
+
#
|
|
63
|
+
# R T
|
|
64
|
+
# 0 1
|
|
65
|
+
#
|
|
66
|
+
class Transform
|
|
67
|
+
attr_reader :mat
|
|
68
|
+
|
|
69
|
+
def initialize( mat, opts = {} )
|
|
70
|
+
@mat = case mat
|
|
71
|
+
when Transform
|
|
72
|
+
mat.mat
|
|
73
|
+
else
|
|
74
|
+
mat
|
|
75
|
+
end
|
|
76
|
+
end
|
|
77
|
+
|
|
78
|
+
def r_mat
|
|
79
|
+
Matrix.rows mat.to_a.first(3).map { |row| row.first(3) }
|
|
80
|
+
end
|
|
81
|
+
|
|
82
|
+
def t_mat
|
|
83
|
+
Vector[ *( mat.to_a.first(3).map { |row| row.at(3) } ) ]
|
|
84
|
+
end
|
|
85
|
+
|
|
86
|
+
def t
|
|
87
|
+
t_mat
|
|
88
|
+
end
|
|
89
|
+
|
|
90
|
+
def inv
|
|
91
|
+
Transform.new mat.inv
|
|
92
|
+
end
|
|
93
|
+
|
|
94
|
+
def *(b)
|
|
95
|
+
mat * b
|
|
96
|
+
end
|
|
97
|
+
|
|
98
|
+
|
|
99
|
+
def dump( io = STDOUT )
|
|
100
|
+
print_mat( mat, io )
|
|
101
|
+
end
|
|
102
|
+
|
|
103
|
+
def self.from_xml( xml, global = nil )
|
|
104
|
+
m = xml.text.split(/\s/).map(&:to_f)
|
|
105
|
+
raise "Not enough elements in matrix" unless m.length == 16
|
|
106
|
+
|
|
107
|
+
arr = 4.times.map { m.shift(4) }
|
|
108
|
+
|
|
109
|
+
if global
|
|
110
|
+
IncrementalTransform.new( global.mat, Matrix.rows(arr) )
|
|
111
|
+
else
|
|
112
|
+
Transform.new( Matrix.rows( arr ) )
|
|
113
|
+
end
|
|
114
|
+
end
|
|
115
|
+
end
|
|
116
|
+
|
|
117
|
+
class IncrementalTransform < Transform
|
|
118
|
+
def initialize( global, increment )
|
|
119
|
+
@global = global
|
|
120
|
+
@increment = increment
|
|
121
|
+
super (@global * @increment)
|
|
122
|
+
end
|
|
123
|
+
|
|
124
|
+
def global; Transform.new @global; end
|
|
125
|
+
def incremental; Transform.new @increment; end
|
|
126
|
+
|
|
127
|
+
def dump( io = STDOUT )
|
|
128
|
+
io.puts "Incremental transform:"
|
|
129
|
+
io.puts " increment:"
|
|
130
|
+
print_mat( @increment )
|
|
131
|
+
io.puts " global:"
|
|
132
|
+
print_mat( @global )
|
|
133
|
+
io.puts " total transform:"
|
|
134
|
+
print_mat mat
|
|
135
|
+
end
|
|
136
|
+
end
|
|
137
|
+
|
|
138
|
+
class Camera
|
|
139
|
+
attr_reader :name, :resolution, :transform, :calibration
|
|
140
|
+
|
|
141
|
+
def initialize( label, resolution, calibration, transform )
|
|
142
|
+
@name = label
|
|
143
|
+
@resolution = resolution
|
|
144
|
+
@calibration = calibration
|
|
145
|
+
@transform = transform
|
|
146
|
+
end
|
|
147
|
+
|
|
148
|
+
alias_method :body_to_world, :transform
|
|
149
|
+
|
|
150
|
+
def world_to_body
|
|
151
|
+
transform.inv
|
|
152
|
+
end
|
|
153
|
+
|
|
154
|
+
def dump( io = STDOUT )
|
|
155
|
+
io.puts "Camera \"#{name}\""
|
|
156
|
+
io.puts "Resolution: %d x %d" % [resolution.width, resolution.height]
|
|
157
|
+
io.puts "Calibration:"
|
|
158
|
+
calibration.dump io
|
|
159
|
+
|
|
160
|
+
io.puts "Body-to-world transform"
|
|
161
|
+
body_to_world.dump( io )
|
|
162
|
+
end
|
|
163
|
+
|
|
164
|
+
|
|
165
|
+
|
|
166
|
+
def self.from_xml( xml, global )
|
|
167
|
+
# Leverage Ox::Element's method_missing support
|
|
168
|
+
res = Resolution.from_xml xml.resolution
|
|
169
|
+
trans = Transform.from_xml xml.transform, global
|
|
170
|
+
calib = Calibration.from_xml xml.calibration
|
|
171
|
+
|
|
172
|
+
Camera.new( xml.label, res, calib, trans )
|
|
173
|
+
end
|
|
174
|
+
end
|
|
175
|
+
end
|
|
@@ -0,0 +1,49 @@
|
|
|
1
|
+
|
|
2
|
+
require "ox"
|
|
3
|
+
require "photoscan_outputs/camera"
|
|
4
|
+
|
|
5
|
+
module PhotoscanOutputs
|
|
6
|
+
|
|
7
|
+
class CameraFile
|
|
8
|
+
attr_reader :cameras, :global_transform
|
|
9
|
+
|
|
10
|
+
include Enumerable
|
|
11
|
+
|
|
12
|
+
def initialize( cameras, global )
|
|
13
|
+
@cameras = cameras
|
|
14
|
+
@global_transform = global
|
|
15
|
+
end
|
|
16
|
+
|
|
17
|
+
def find_by_name( name )
|
|
18
|
+
find { |cam| cam.name == name }
|
|
19
|
+
end
|
|
20
|
+
|
|
21
|
+
def each
|
|
22
|
+
if block_given?
|
|
23
|
+
@cameras.each { |blk| yield blk }
|
|
24
|
+
else
|
|
25
|
+
@cameras.each
|
|
26
|
+
end
|
|
27
|
+
end
|
|
28
|
+
|
|
29
|
+
|
|
30
|
+
def self.load( file )
|
|
31
|
+
raise "Can't read file \"#{file}\"" unless File.readable? file
|
|
32
|
+
|
|
33
|
+
xml = Ox.load File.read( file )
|
|
34
|
+
|
|
35
|
+
cameras = xml.locate("collection/cameras").first.nodes
|
|
36
|
+
|
|
37
|
+
global = Transform.from_xml xml.locate("collection").first.transform
|
|
38
|
+
|
|
39
|
+
cameras.map! { |cam|
|
|
40
|
+
Camera.from_xml( cam, global )
|
|
41
|
+
}
|
|
42
|
+
|
|
43
|
+
CameraFile.new( cameras, global )
|
|
44
|
+
end
|
|
45
|
+
|
|
46
|
+
end
|
|
47
|
+
end
|
|
48
|
+
|
|
49
|
+
|
|
@@ -0,0 +1,25 @@
|
|
|
1
|
+
# coding: utf-8
|
|
2
|
+
lib = File.expand_path('../lib', __FILE__)
|
|
3
|
+
$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
|
|
4
|
+
require 'photoscan_outputs/version'
|
|
5
|
+
|
|
6
|
+
Gem::Specification.new do |spec|
|
|
7
|
+
spec.name = "photoscan_outputs"
|
|
8
|
+
spec.version = PhotoscanOutputs::VERSION
|
|
9
|
+
spec.authors = ["Aaron Marburg"]
|
|
10
|
+
spec.email = ["amarburg@notetofutureself.org"]
|
|
11
|
+
spec.summary = %q{A Ruby Gem to parse the Photoscan export file formats.}
|
|
12
|
+
spec.homepage = "http://github.com/amarburg/rb_photoscan_outputs"
|
|
13
|
+
spec.license = "MIT"
|
|
14
|
+
|
|
15
|
+
spec.files = `git ls-files -z`.split("\x0")
|
|
16
|
+
spec.executables = spec.files.grep(%r{^bin/}) { |f| File.basename(f) }
|
|
17
|
+
spec.test_files = spec.files.grep(%r{^(test|spec|features)/})
|
|
18
|
+
spec.require_paths = ["lib"]
|
|
19
|
+
|
|
20
|
+
spec.add_development_dependency "bundler", "~> 1.5"
|
|
21
|
+
spec.add_development_dependency "rake"
|
|
22
|
+
spec.add_development_dependency "trollop"
|
|
23
|
+
|
|
24
|
+
spec.add_dependency "ox"
|
|
25
|
+
end
|
|
@@ -0,0 +1,18 @@
|
|
|
1
|
+
|
|
2
|
+
require "minitest/autorun"
|
|
3
|
+
require "photoscan_outputs"
|
|
4
|
+
|
|
5
|
+
class TestCameraFile < MiniTest::Unit::TestCase
|
|
6
|
+
|
|
7
|
+
include PhotoscanOutputs
|
|
8
|
+
|
|
9
|
+
def demo_cameras_xml
|
|
10
|
+
Pathname.new(__FILE__).parent.parent.join("demo", "cameras.xml")
|
|
11
|
+
end
|
|
12
|
+
|
|
13
|
+
def test_loads_a_file
|
|
14
|
+
cameras = CameraFile.load( demo_cameras_xml )
|
|
15
|
+
assert_kind_of( CameraFile, cameras )
|
|
16
|
+
end
|
|
17
|
+
|
|
18
|
+
end
|
metadata
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
1
|
+
--- !ruby/object:Gem::Specification
|
|
2
|
+
name: photoscan_outputs
|
|
3
|
+
version: !ruby/object:Gem::Version
|
|
4
|
+
version: 0.0.1
|
|
5
|
+
platform: ruby
|
|
6
|
+
authors:
|
|
7
|
+
- Aaron Marburg
|
|
8
|
+
autorequire:
|
|
9
|
+
bindir: bin
|
|
10
|
+
cert_chain: []
|
|
11
|
+
date: 2014-02-20 00:00:00.000000000 Z
|
|
12
|
+
dependencies:
|
|
13
|
+
- !ruby/object:Gem::Dependency
|
|
14
|
+
name: bundler
|
|
15
|
+
requirement: !ruby/object:Gem::Requirement
|
|
16
|
+
requirements:
|
|
17
|
+
- - "~>"
|
|
18
|
+
- !ruby/object:Gem::Version
|
|
19
|
+
version: '1.5'
|
|
20
|
+
type: :development
|
|
21
|
+
prerelease: false
|
|
22
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
23
|
+
requirements:
|
|
24
|
+
- - "~>"
|
|
25
|
+
- !ruby/object:Gem::Version
|
|
26
|
+
version: '1.5'
|
|
27
|
+
- !ruby/object:Gem::Dependency
|
|
28
|
+
name: rake
|
|
29
|
+
requirement: !ruby/object:Gem::Requirement
|
|
30
|
+
requirements:
|
|
31
|
+
- - ">="
|
|
32
|
+
- !ruby/object:Gem::Version
|
|
33
|
+
version: '0'
|
|
34
|
+
type: :development
|
|
35
|
+
prerelease: false
|
|
36
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
37
|
+
requirements:
|
|
38
|
+
- - ">="
|
|
39
|
+
- !ruby/object:Gem::Version
|
|
40
|
+
version: '0'
|
|
41
|
+
- !ruby/object:Gem::Dependency
|
|
42
|
+
name: trollop
|
|
43
|
+
requirement: !ruby/object:Gem::Requirement
|
|
44
|
+
requirements:
|
|
45
|
+
- - ">="
|
|
46
|
+
- !ruby/object:Gem::Version
|
|
47
|
+
version: '0'
|
|
48
|
+
type: :development
|
|
49
|
+
prerelease: false
|
|
50
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
51
|
+
requirements:
|
|
52
|
+
- - ">="
|
|
53
|
+
- !ruby/object:Gem::Version
|
|
54
|
+
version: '0'
|
|
55
|
+
- !ruby/object:Gem::Dependency
|
|
56
|
+
name: ox
|
|
57
|
+
requirement: !ruby/object:Gem::Requirement
|
|
58
|
+
requirements:
|
|
59
|
+
- - ">="
|
|
60
|
+
- !ruby/object:Gem::Version
|
|
61
|
+
version: '0'
|
|
62
|
+
type: :runtime
|
|
63
|
+
prerelease: false
|
|
64
|
+
version_requirements: !ruby/object:Gem::Requirement
|
|
65
|
+
requirements:
|
|
66
|
+
- - ">="
|
|
67
|
+
- !ruby/object:Gem::Version
|
|
68
|
+
version: '0'
|
|
69
|
+
description:
|
|
70
|
+
email:
|
|
71
|
+
- amarburg@notetofutureself.org
|
|
72
|
+
executables: []
|
|
73
|
+
extensions: []
|
|
74
|
+
extra_rdoc_files: []
|
|
75
|
+
files:
|
|
76
|
+
- ".gitignore"
|
|
77
|
+
- Gemfile
|
|
78
|
+
- LICENSE
|
|
79
|
+
- README.md
|
|
80
|
+
- Rakefile
|
|
81
|
+
- demo/cameras.xml
|
|
82
|
+
- demo/parse_cameras
|
|
83
|
+
- demo/point
|
|
84
|
+
- lib/photoscan_outputs.rb
|
|
85
|
+
- lib/photoscan_outputs/camera.rb
|
|
86
|
+
- lib/photoscan_outputs/camera_file.rb
|
|
87
|
+
- lib/photoscan_outputs/version.rb
|
|
88
|
+
- photoscan_outputs.gemspec
|
|
89
|
+
- test/load_file_test.rb
|
|
90
|
+
homepage: http://github.com/amarburg/rb_photoscan_outputs
|
|
91
|
+
licenses:
|
|
92
|
+
- MIT
|
|
93
|
+
metadata: {}
|
|
94
|
+
post_install_message:
|
|
95
|
+
rdoc_options: []
|
|
96
|
+
require_paths:
|
|
97
|
+
- lib
|
|
98
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
|
99
|
+
requirements:
|
|
100
|
+
- - ">="
|
|
101
|
+
- !ruby/object:Gem::Version
|
|
102
|
+
version: '0'
|
|
103
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
|
104
|
+
requirements:
|
|
105
|
+
- - ">="
|
|
106
|
+
- !ruby/object:Gem::Version
|
|
107
|
+
version: '0'
|
|
108
|
+
requirements: []
|
|
109
|
+
rubyforge_project:
|
|
110
|
+
rubygems_version: 2.2.1
|
|
111
|
+
signing_key:
|
|
112
|
+
specification_version: 4
|
|
113
|
+
summary: A Ruby Gem to parse the Photoscan export file formats.
|
|
114
|
+
test_files:
|
|
115
|
+
- test/load_file_test.rb
|