CTPv 0.1.0__py3-none-any.whl

CTPv/Camera/Intrinsics.py

@@ -0,0 +1,205 @@
+import numpy as np
+import os
+from ..Plucker.Line import Line
+
+class RadialDistortion:
+    """Handles radial distortion parameters for a camera model."""
+
+    def __init__(self, k1=0, k2=0, k3=0):
+        self.k1 = k1
+        self.k2 = k2
+        self.k3 = k3
+
+    def set_from_list(self, coeffs):
+        if len(coeffs) != 3:
+            raise ValueError("List must contain exactly three elements.")
+        self.k1, self.k2, self.k3 = coeffs
+
+
+class IntrinsicMatrix:
+    """Encapsulates intrinsic parameters of a pinhole camera model."""
+
+    def __init__(self):
+        self.fx = None
+        self.fy = None
+        self.cx = None
+        self.cy = None
+        self.s = 0
+        self.width = None
+        self.height = None
+        self.RadialDistortion = RadialDistortion()
+        self._MatlabIntrinsics = np.zeros((3, 3))
+        self._OpenCVIntrinsics = np.zeros((3, 3))
+        self.pixel_size = None  # e.g., 0.0034 mm
+        self.info = None  # e.g., camera ID or lens metadata
+
+    @property
+    def MatlabIntrinsics(self):
+        """
+        generation call method for returning Matlab matrix format of intrinsic parameters of a camera
+        Returns:
+            I = 3x3 matrix
+            [ fx   0   cx  ]
+            [ 0    fy  cy  ]
+            [ 0    0   1   ]
+
+        """
+        I = np.zeros((3, 3))
+        I[0, 0] = self.fx
+        I[1, 1] = self.fy
+        I[2, 0] = self.cx
+        I[2, 1] = self.cy
+        I[2, 2] = 1
+        return I
+
+    @MatlabIntrinsics.setter
+    def MatlabIntrinsics(self, I):
+        """
+        Extraction call method for extracting Matlab matrix format of intrinsic parameters of a camera to local class,
+        parameters are registered to every parameter as per the following structure.
+        I = [ fx   0   cx  ]
+            [ 0    fy  cy  ]
+            [ 0    0   1   ]
+
+        """
+        self.fx = I[0, 0]
+        self.fy = I[1, 1]
+        self.cx = I[2, 0]
+        self.cy = I[2, 1]
+        self.s = I[1, 0]
+
+    @property
+    def OpenCVIntrinsics(self):
+        """
+        generation call method for returning OpenCV matrix format of intrinsic parameters of a camera
+        Returns:
+            I = 3x3 matrix
+            [ fx   0   cx  ]
+            [ 0    fy  cy  ]
+            [ 0    0   1   ]
+
+        """
+        I = np.zeros((3, 3))
+        I[0, 0] = self.fx
+        I[1, 1] = self.fy
+        I[0, 2] = self.cx
+        I[1, 2] = self.cy
+        I[2, 2] = 1
+        return I
+
+    @OpenCVIntrinsics.setter
+    def OpenCVIntrinsics(self, I):
+        """
+        Extraction call method for extracting OpenCV matrix format of intrinsic parameters of a camera to local class,
+        parameters are registered to every parameter as per the following structure.
+        I = [ fx   0   cx  ]
+            [ 0    fy  cy  ]
+            [ 0    0   1   ]
+
+        """
+        self.fx = I[0, 0]
+        self.fy = I[1, 1]
+        self.cx = I[0, 2]
+        self.cy = I[1, 2]
+        self.s = 0
+
+    @property
+    def focal_length_mm(self):
+        """Returns focal length in mm."""
+        if self.pixel_size is None:
+            raise ValueError('Pixel size not set!')
+        return self.fx * self.pixel_size, self.fy * self.pixel_size
+
+    @property
+    def PerspectiveAngle(self):
+        """Returns horizontal or vertical perspective angle in degrees."""
+        if self.width is None:
+            raise ValueError('Set width first.')
+
+        aspectRatio = self.width / self.height
+        if aspectRatio > 1:
+            return 2 * np.arctan(self.width / (2 * self.fx)) * 180 / np.pi
+        else:
+            return 2 * np.arctan(self.height / (2 * self.fy)) * 180 / np.pi
+
+    @PerspectiveAngle.setter
+    def PerspectiveAngle(self, p):
+        if self.width is None:
+            raise ValueError('Set width first.')
+
+        aspectRatio = self.width / self.height
+        if aspectRatio > 1:
+            self.fx = (self.width / 2) / np.tan(p / 2)
+            self.fy = self.fx
+        else:
+            self.fy = (self.height / 2) / np.tan(p / 2)
+            self.fx = self.fy
+
+        self.cx = self.width / 2
+        self.cy = self.height / 2
+
+    def CameraParams2Intrinsics(self, CameraParams):
+        try:
+            self.width = CameraParams.ImageSize[1]
+            self.height = CameraParams.ImageSize[0]
+        except AttributeError:
+            print('Camera not open, set resolution manually.')
+        self.MatlabIntrinsics = CameraParams.IntrinsicMatrix
+
+    def Intrinsics2CameraParams(self):
+        P = {
+            'IntrinsicMatrix': self.MatlabIntrinsics,
+            'ImageSize': [self.height, self.width]
+        }
+        if self.RadialDistortion:
+            P['RadialDistortion'] = self.RadialDistortion
+        return P
+
+    def ScaleIntrinsics(self, Scale):
+        """Scales all intrinsic parameters and image size by a given factor."""
+        self.fx *= Scale
+        self.fy *= Scale
+        self.cx *= Scale
+        self.cy *= Scale
+        self.width *= Scale
+        self.height *= Scale
+
+    def save_intrinsics_to_json(self, filename):
+        """Serialize camera intrinsics to a JSON file."""
+        import json
+        directory = os.path.dirname(filename)
+        if directory:
+            os.makedirs(directory, exist_ok=True)
+
+        data = {
+            'OpenCVIntrinsics': self.OpenCVIntrinsics.tolist(),
+            'RadialDistortion': {
+                'k1': self.RadialDistortion.k1,
+                'k2': self.RadialDistortion.k2,
+                'k3': self.RadialDistortion.k3
+            },
+            'width': self.width,
+            'height': self.height,
+            'pixel_size': self.pixel_size,
+            'info': self.info
+        }
+        with open(filename, 'w') as f:
+            json.dump(data, f, indent=4)
+
+    def load_intrinsics_from_json(self, filename):
+        """Load camera intrinsics from a JSON file."""
+        import json
+        with open(filename, 'r') as f:
+            data = json.load(f)
+
+        self.OpenCVIntrinsics = np.array(data['OpenCVIntrinsics'])
+        self.RadialDistortion.set_from_list([
+            data['RadialDistortion']['k1'],
+            data['RadialDistortion']['k2'],
+            data['RadialDistortion']['k3']
+        ])
+        self.width = data['width']
+        self.height = data['height']
+        self.pixel_size = data['pixel_size']
+        self.info = data['info']
+        return self