(config, dataframe, camera_pair)
| 502 | |
| 503 | |
| 504 | def undistort_points(config, dataframe, camera_pair): |
| 505 | cfg_3d = auxiliaryfunctions.read_config(config) |
| 506 | path_camera_matrix = auxiliaryfunctions_3d.Foldernames3Dproject(cfg_3d)[2] |
| 507 | """path_undistort = destfolder filename_cam1 = Path(dataframe[0]).stem filename_cam2 |
| 508 | = Path(dataframe[1]).stem. |
| 509 | |
| 510 | #currently no intermediate saving of this due to high speed. |
| 511 | # check if the undistorted files are already present |
| 512 | if os.path.exists(os.path.join(path_undistort,filename_cam1 + \ |
| 513 | '_undistort.h5')) and os.path.exists(os.path.join(path_undistort,filename_cam2 + '_undistort.h5')): |
| 514 | print("The undistorted files are already present at %s" % os.path.join(path_undistort,filename_cam1)) |
| 515 | dataFrame_cam1_undistort = pd.read_hdf(os.path.join(path_undistort,filename_cam1 + '_undistort.h5')) |
| 516 | dataFrame_cam2_undistort = pd.read_hdf(os.path.join(path_undistort,filename_cam2 + '_undistort.h5')) |
| 517 | else: |
| 518 | """ |
| 519 | if len(dataframe) != 2: |
| 520 | raise ValueError( |
| 521 | "undistort_points(config, dataframe, camera_pair) " |
| 522 | f"needs filenames to two data frames, but got dataframe={dataframe}." |
| 523 | ) |
| 524 | for filename in dataframe: |
| 525 | if not os.path.exists(filename): |
| 526 | raise FileNotFoundError(f"Dataframe path '{filename}' could not be found in the filesystem.") |
| 527 | if not os.path.exists(path_camera_matrix): |
| 528 | raise FileNotFoundError(f"Camera matrix file '{path_camera_matrix}' could not be found in the filesystem.") |
| 529 | # Create an empty dataFrame to store the undistorted 2d coordinates and likelihood |
| 530 | dataframe_cam1 = pd.read_hdf(dataframe[0]) |
| 531 | dataframe_cam2 = pd.read_hdf(dataframe[1]) |
| 532 | path_stereo_file = os.path.join(path_camera_matrix, "stereo_params.pickle") |
| 533 | stereo_file = auxiliaryfunctions.read_pickle(path_stereo_file) |
| 534 | dataFrame_cam1_undistort, dataFrame_cam2_undistort = _undistort_views( |
| 535 | [(dataframe_cam1, dataframe_cam2)], |
| 536 | stereo_file, |
| 537 | )[0] |
| 538 | |
| 539 | return ( |
| 540 | dataFrame_cam1_undistort, |
| 541 | dataFrame_cam2_undistort, |
| 542 | stereo_file[camera_pair], |
| 543 | path_stereo_file, |
| 544 | ) |
no test coverage detected