camera_yaml_updater.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 ################################################################# 00003 ##\file 00004 # 00005 # \note 00006 # Copyright (c) 2011-2012 \n 00007 # Fraunhofer Institute for Manufacturing Engineering 00008 # and Automation (IPA) \n\n 00009 # 00010 ################################################################# 00011 # 00012 # \note 00013 # Project name: care-o-bot 00014 # \note 00015 # ROS stack name: cob_calibration 00016 # \note 00017 # ROS package name: cob_robot_calibration 00018 # 00019 # \author 00020 # Author: Sebastian Haug, email:sebhaug@gmail.com 00021 # \author 00022 # Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de 00023 # 00024 # \date Date of creation: January 2012 00025 # 00026 ################################################################# 00027 # 00028 # Redistribution and use in source and binary forms, with or without 00029 # modification, are permitted provided that the following conditions are met: 00030 # 00031 # - Redistributions of source code must retain the above copyright 00032 # notice, this list of conditions and the following disclaimer. \n 00033 # - Redistributions in binary form must reproduce the above copyright 00034 # notice, this list of conditions and the following disclaimer in the 00035 # documentation and/or other materials provided with the distribution. \n 00036 # - Neither the name of the Fraunhofer Institute for Manufacturing 00037 # Engineering and Automation (IPA) nor the names of its 00038 # contributors may be used to endorse or promote products derived from 00039 # this software without specific prior written permission. \n 00040 # 00041 # This program is free software: you can redistribute it and/or modify 00042 # it under the terms of the GNU Lesser General Public License LGPL as 00043 # published by the Free Software Foundation, either version 3 of the 00044 # License, or (at your option) any later version. 00045 # 00046 # This program is distributed in the hope that it will be useful, 00047 # but WITHOUT ANY WARRANTY; without even the implied warranty of 00048 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00049 # GNU Lesser General Public License LGPL for more details. 00050 # 00051 # You should have received a copy of the GNU Lesser General Public 00052 # License LGPL along with this program. 00053 # If not, see <http://www.gnu.org/licenses/>. 00054 # 00055 ################################################################# 00056 00057 import yaml 00058 00059 class CameraYamlUpdater(): 00060 ''' 00061 @summary: Parses a camera calibration yaml file and provides a method to update it 00062 ''' 00063 00064 def __init__(self, yaml_in, yaml_out, debug=False): 00065 ''' 00066 Init object with paths to input and output yaml 00067 ''' 00068 self.file_yaml_in = yaml_in 00069 self.file_yaml_out = yaml_out 00070 self.debug = debug 00071 00072 def update_baseline(self, baseline_offset_x): 00073 ''' 00074 Opens yaml file (self.file_yaml_in) and adjusts stereo baseline in x direction 00075 by baseline_offset and saves result to output yaml file (self.file_yaml_out) 00076 00077 @param baseline_offset: baseline offset 00078 @type baseline_offset: float 00079 ''' 00080 # open yaml 00081 print "--> loading camera yaml file from '%s'" % self.file_yaml_in 00082 camera_calibration = yaml.load(file(self.file_yaml_in)) 00083 00084 # adjust baseline 00085 camera_calibration['projection_matrix']['data'][3] += baseline_offset_x 00086 00087 # save yaml 00088 print "--> saving results to camera yaml file '%s'" % self.file_yaml_out 00089 yaml.dump(camera_calibration, open(self.file_yaml_out, "w"))