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Get pose from camera params using opencv2 #174

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Get pose from camera params using opencv2 #174

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8b45c5d
pose math
raphaelmemmesheimer Aug 19, 2018
92c2daf
added brackets for py3
raphaelmemmesheimer Aug 20, 2018
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23 changes: 11 additions & 12 deletions tf_conversions/src/tf_conversions/posemath.py
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Original file line number Diff line number Diff line change
Expand Up @@ -146,31 +146,30 @@ def toMatrix(f):


# from camera parameters
def fromCameraParams(cv, rvec, tvec):
def fromCameraParams(cv2, rvec, tvec):
"""
:param cv: OpenCV module
:param rvec: A Rodrigues rotation vector - see :func:`Rodrigues2`
:type rvec: 3x1 :class:`CvMat`
:param tvec: A translation vector
:type tvec: 3x1 :class:`CvMat`
:param rvec: A Rodrigues rotation vector - see :func:`Rodrigues`
:type rvec: 3x1 :class:`numpy.array`
:param tvec: A translation vector
:type tvec: 3x1 :class:`numpy.array`
:return: New :class:`PyKDL.Frame` object

For use with :func:`FindExtrinsicCameraParams2`::
For use with :func:`solvePnP`::

import cv
import cv2
import tf_conversions.posemath as pm
...
rvec = cv.CreateMat(3, 1, cv.CV_32FC1)
tvec = cv.CreateMat(3, 1, cv.CV_32FC1)
cv.FindExtrinsicCameraParams2(model, corners, intrinsic_matrix, kc, rvec, tvec)
pose = pm.fromCameraParams(cv, rvec, tvec)
_ret, rvec, tvec = cv2.solvePnP(model, corners, intrinsic_matrix, kc)
pose = pm.fromCameraParams(cv2, rvec, tvec)

"""
m = numpy.array([ [ 0, 0, 0, tvec[0,0] ],
[ 0, 0, 0, tvec[1,0] ],
[ 0, 0, 0, tvec[2,0] ],
[ 0, 0, 0, 1.0 ] ], dtype = numpy.float32)
cv.Rodrigues2(rvec, m[:3,:3])
m[:3,:3] = cv2.Rodrigues(rvec)[:3:3][0]

return fromMatrix(m)