Merge pull request #406 from mprib/404-changing-exposure-deletes-tran…

…slation-and-rotation 404 changing exposure deletes translation and rotation
mprib · Jun 27, 2023 · 7502a37 · 7502a37
2 parents fd2fa9a + 2751256
commit 7502a37
Showing 1 changed file with 8 additions and 16 deletions.
diff --git a/pyxy3d/configurator.py b/pyxy3d/configurator.py
@@ -279,15 +279,19 @@ def add_preconfigured_cam(params):
                 camera.rotation_count = params["rotation_count"]
                 camera.exposure = params["exposure"]
 
-                # if calibration done, then populate those as well
-                if "error" in params.keys():
+                if "error" in params.keys(): # then intrinsic params available
+                    # if calibration done, then populate those as well
+                    logger.info(f"Adding in preconfigured intrinsic params at port {port}")
                     logger.info(f"Camera RMSE error for port {port}: {params['error']}")
                     camera.error = params["error"]
                     camera.matrix = np.array(params["matrix"]).astype(float)
                     camera.distortions = np.array(params["distortions"]).astype(float)
                     camera.grid_count = params["grid_count"]
-            # except:
-            #     logger.info("Unable to connect... camera may be in use.")
+
+                if "rotation" in params.keys(): # then extrinsic params available
+                    logger.info(f"Adding in preconfigured extrinsic params at port {port}")
+                    camera.rotation = cv2.Rodrigues(np.array(params["rotation"]))[0]
+                    camera.translation = np.array(params["translation"])
 
         with ThreadPoolExecutor() as executor:
             for key, params in self.dict.items():
@@ -308,18 +312,6 @@ def save_point_estimates(self, point_estimates:PointEstimates):
 
         self.update_toml()
 
-
-    # def get_live_stream_pool(self, tracker:Tracker = None):
-    #     streams = {}
-    #     cameras = self.get_cameras()
-
-    #     for port, cam in cameras.items():
-    #         logger.info(f"Adding stream associated with camera {port}")
-    #         stream = LiveStream(cam, tracker=tracker)
-    #         stream.change_resolution(cam.size)
-    #         streams[port] = stream
-    #     return streams            
-
 
 
 if __name__ == "__main__":