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config.py
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config.py
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"""
* This file is part of PYSLAM
*
* Copyright (C) 2016-present Luigi Freda <luigi dot freda at gmail dot com>
*
* PYSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* PYSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with PYSLAM. If not, see <http://www.gnu.org/licenses/>.
"""
import configparser
import os
import yaml
import sys
import numpy as np
# get the location of this file!
__location__ = os.path.realpath(os.path.join(
os.getcwd(), os.path.dirname(__file__)))
# Class for getting libs settings (from config.ini) and camera settings from a yaml file specified via the ENV var SETTINGS
class Config(object):
def __init__(self):
self.config_file = 'config.ini'
self.config_parser = configparser.ConfigParser()
self.cam_settings = None
self.dataset_settings = None
self.dataset_type = None
self.set_lib_paths()
self.get_dataset_settings()
self.get_cam_settings()
# read lib paths from config.ini and set sys paths
def set_lib_paths(self):
self.config_parser.read(__location__ + '/' + self.config_file)
paths = self.config_parser['LIB_PATH']
for path in paths:
ext_path = __location__ + '/' + paths[path]
# print( "importing path: ", ext_path )
sys.path.append(ext_path)
# get camera settings
def get_dataset_settings(self):
self.dataset_type = self.config_parser['DATASET']['type']
self.dataset_settings = self.config_parser[self.dataset_type]
#print('dataset_settings: ', self.dataset_settings)
# get camera settings
def get_cam_settings(self):
self.cam_settings = None
self.settings_doc = __location__ + '/' + self.config_parser[self.dataset_type]['cam_settings']
if(self.settings_doc is not None):
with open(self.settings_doc, 'r') as stream:
try:
self.cam_settings = yaml.load(stream)
except yaml.YAMLError as exc:
print(exc)
# calibration matrix
@property
def K(self):
if not hasattr(self, '_K'):
fx = self.cam_settings['Camera.fx']
cx = self.cam_settings['Camera.cx']
fy = self.cam_settings['Camera.fy']
cy = self.cam_settings['Camera.cy']
self._K = np.array([[fx, 0, cx],
[0, fy, cy],
[0, 0, 1]])
return self._K
# inverse of calibration matrix
@property
def Kinv(self):
if not hasattr(self, '_Kinv'):
fx = self.cam_settings['Camera.fx']
cx = self.cam_settings['Camera.cx']
fy = self.cam_settings['Camera.fy']
cy = self.cam_settings['Camera.cy']
self._Kinv = np.array([[1/fx, 0, -cx/fx],
[0, 1/fy, -cy/fy],
[0, 0, 1]])
return self._Kinv
# distortion coefficients
@property
def DistCoef(self):
if not hasattr(self, '_DistCoef'):
k1 = self.cam_settings['Camera.k1']
k2 = self.cam_settings['Camera.k2']
p1 = self.cam_settings['Camera.p1']
p2 = self.cam_settings['Camera.p2']
k3 = 0
if 'Camera.k3' in self.cam_settings:
k3 = self.cam_settings['Camera.k3']
self._DistCoef = np.array([k1, k2, p1, p2, k3])
# if k3 != 0:
# self._DistCoef = np.array([k1,k2,p1,p2,k3])
# else:
# self._DistCoef = np.array([k1,k2,p1,p2])
return self._DistCoef
# camera width
@property
def width(self):
if not hasattr(self, '_width'):
self._width = self.cam_settings['Camera.width']
return self._width
# camera height
@property
def height(self):
if not hasattr(self, '_height'):
self._height = self.cam_settings['Camera.height']
return self._height
if __name__ != "__main__":
# we automatically read lib path when this file is called via 'import'
config = Config()