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import json
import os
from detrsmpl.core.cameras.camera_parameters import CameraParameter
from detrsmpl.core.renderer.vedo_render import VedoRenderer
from detrsmpl.utils.path_utils import check_path_suffix
def visualize_chessboard_kinects_rgb(chessboard_path: str,
interactive: bool = True,
show: bool = True):
"""Visualize all the RGB cameras in a chessboard file.
Args:
chessboard_path (str):
Path to the chessboard file.
interactive (bool, optional):
Pause and interact with window (True) or
continue execution (False).
Defaults to True.
show (bool, optional):
Whether to show in a window.
Defaults to True.
"""
# Load camera parameter from a json file
camera_para_json_dict = json.load(open(chessboard_path))
camera_para_dict = {}
for camera_id in camera_para_json_dict.keys():
try:
camera_id_int = int(camera_id)
# if camera_id is an instance of int
# and it can be divided by 2, it's an rgb camera
if camera_id_int % 2 == 0:
pass
else:
continue
except ValueError:
continue
temp_camera_parameter = CameraParameter(name=camera_id)
temp_camera_parameter.load_from_chessboard(
camera_para_json_dict[camera_id], camera_id)
camera_para_dict[camera_id] = temp_camera_parameter
camera_vedo_renderer = VedoRenderer()
camera_vedo_renderer.set_y_reverse()
for camera_id in camera_para_dict.keys():
camera_vedo_renderer.add_camera(camera_para_dict[camera_id])
if show:
camera_vedo_renderer.show(with_axis=False, interactive=interactive)
def visualize_dumped_camera_parameter(dumped_dir: str,
interactive: bool = True,
show: bool = True):
"""Visualize all cameras dumped in a directory.
Args:
dumped_dir (str):
Path to the directory.
interactive (bool, optional):
Pause and interact with window (True) or
continue execution (False).
Defaults to True.
show (bool, optional):
Whether to show in a window.
Defaults to True.
"""
file_list = os.listdir(dumped_dir)
camera_para_list = []
for file_name in file_list:
file_path = os.path.join(dumped_dir, file_name)
if not check_path_suffix(file_path, ['.json']):
continue
else:
cam_para = CameraParameter()
cam_para.load(file_path)
camera_para_list.append(cam_para)
camera_vedo_renderer = VedoRenderer()
camera_vedo_renderer.set_y_reverse()
for camera_para in camera_para_list:
camera_vedo_renderer.add_camera(camera_para)
if show:
camera_vedo_renderer.show(with_axis=False, interactive=interactive)
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