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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) | |