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import numpy as np |
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import argparse |
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import cPickle as pkl |
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""" |
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This script creates a .pkl file using the given camera intrinsics. |
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Example: |
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$ python create_camera.py camera.pkl 1080 1080 -f 900.0 900.0 |
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""" |
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parser = argparse.ArgumentParser() |
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parser.add_argument('out', type=str, help="Output file (.pkl)") |
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parser.add_argument('width', type=int, help="Frame width in px") |
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parser.add_argument('height', type=int, help="Frame height in px") |
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parser.add_argument('-f', type=float, nargs='*', help="Focal length in px (2,)") |
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parser.add_argument('-c', type=float, nargs='*', help="Principal point in px (2,)") |
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parser.add_argument('-k', type=float, nargs='*', help="Distortion coefficients (5,)") |
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args = parser.parse_args() |
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camera_data = { |
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'camera_t': np.zeros(3), |
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'camera_rt': np.zeros(3), |
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'camera_f': np.array([args.width, args.width]), |
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'camera_c': np.array([args.width, args.height]) / 2., |
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'camera_k': np.zeros(5), |
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'width': args.width, |
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'height': args.height, |
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} |
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if args.f is not None: |
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if len(args.f) is not 2: |
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raise Exception('Focal length should be of shape (2,)') |
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camera_data['camera_f'] = np.array(args.f) |
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if args.c is not None: |
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if len(args.c) is not 2: |
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raise Exception('Principal point should be of shape (2,)') |
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camera_data['camera_c'] = np.array(args.c) |
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if args.k is not None: |
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if len(args.k) is not 5: |
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raise Exception('Distortion coefficients should be of shape (5,)') |
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camera_data['camera_k'] = np.array(args.k) |
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with open(args.out, 'wb') as f: |
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pkl.dump(camera_data, f, protocol=2) |
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