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calibration.py
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calibration.py
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# <Copyright 2019, Argo AI, LLC. Released under the MIT license.>
"""make util to project RGB values onto the point cloud"""
import json
import logging
from pathlib import Path
from typing import Any, Dict, List, NamedTuple, Optional, Tuple, Union, overload
import imageio
import numpy as np
from typing_extensions import Literal
from argoverse.data_loading.pose_loader import get_city_SE3_egovehicle_at_sensor_t
from argoverse.utils.camera_stats import CAMERA_LIST, RECTIFIED_STEREO_CAMERA_LIST, get_image_dims_for_camera
from argoverse.utils.se3 import SE3
from argoverse.utils.transform import quat2rotmat
logger = logging.getLogger(__name__)
class CameraConfig(NamedTuple):
"""Camera config for extrinsic matrix, intrinsic matrix, image width/height.
Args:
extrinsic: extrinsic matrix
intrinsic: intrinsic matrix
img_width: image width
img_height: image height
"""
extrinsic: np.ndarray
intrinsic: np.ndarray
img_width: int
img_height: int
distortion_coeffs: np.ndarray
class Calibration:
"""Calibration matrices and utils.
3d XYZ are in 3D egovehicle coord.
2d box xy are in image coord, normalized by width and height
Point cloud are in egovehicle coord
::
xy_image = K * [R|T] * xyz_ego
xyz_image = [R|T] * xyz_ego
image coord:
----> x-axis (u)
|
|
v y-axis (v)
egovehicle coord:
front x, left y, up z
"""
def __init__(self, camera_config: CameraConfig, calib: Dict[str, Any]) -> None:
"""Create a Calibration instance.
Args:
camera_config: A camera config
calib: Calibration data
"""
self.camera_config = camera_config
self.calib_data = calib
self.extrinsic = get_camera_extrinsic_matrix(calib["value"])
self.R = self.extrinsic[0:3, 0:3]
self.T = self.extrinsic[0:3, 3]
self.K = get_camera_intrinsic_matrix(calib["value"])
self.cu = self.calib_data["value"]["focal_center_x_px_"]
self.cv = self.calib_data["value"]["focal_center_y_px_"]
self.fu = self.calib_data["value"]["focal_length_x_px_"]
self.fv = self.calib_data["value"]["focal_length_y_px_"]
self.bx = self.K[0, 3] / (-self.fu)
self.by = self.K[1, 3] / (-self.fv)
self.d = camera_config.distortion_coeffs
self.camera = calib["key"][10:]
def cart2hom(self, pts_3d: np.ndarray) -> np.ndarray:
"""Convert Cartesian coordinates to Homogeneous.
Args:
pts_3d: nx3 points in Cartesian
Returns:
nx4 points in Homogeneous by appending 1
"""
n = pts_3d.shape[0]
pts_3d_hom = np.hstack((pts_3d, np.ones((n, 1))))
return pts_3d_hom
def project_ego_to_image(self, pts_3d_ego: np.ndarray) -> np.ndarray:
"""Project egovehicle coordinate to image.
Args:
pts_3d_ego: nx3 points in egovehicle coord
Returns:
nx3 points in image coord + depth
"""
uv_cam = self.project_ego_to_cam(pts_3d_ego)
return self.project_cam_to_image(uv_cam)
def project_ego_to_cam(self, pts_3d_ego: np.ndarray) -> np.ndarray:
"""Project egovehicle point onto camera frame.
Args:
pts_3d_ego: nx3 points in egovehicle coord.
Returns:
nx3 points in camera coord.
"""
uv_cam = self.extrinsic.dot(self.cart2hom(pts_3d_ego).transpose())
return uv_cam.transpose()[:, 0:3]
def project_cam_to_ego(self, pts_3d_rect: np.ndarray) -> np.ndarray:
"""Project point in camera frame to egovehicle frame.
Args:
pts_3d_rect: nx3 points in cam coord.
Returns:
nx3 points in ego coord.
"""
return np.linalg.inv((self.extrinsic)).dot(self.cart2hom(pts_3d_rect).transpose()).transpose()[:, 0:3]
def project_image_to_ego(self, uv_depth: np.ndarray) -> np.ndarray:
"""Project 2D image with depth to egovehicle coordinate.
Args:
uv_depth: nx3 first two channels are uv, 3rd channel
is depth in camera coord. So basically in image coordinate.
Returns:
nx3 points in ego coord.
"""
uv_cam = self.project_image_to_cam(uv_depth)
return self.project_cam_to_ego(uv_cam)
def project_image_to_cam(self, uv_depth: np.ndarray) -> np.ndarray:
"""Project 2D image with depth to camera coordinate.
Args:
uv_depth: nx3 first two channels are uv, 3rd channel
is depth in camera coord.
Returns:
nx3 points in camera coord.
"""
n = uv_depth.shape[0]
x = ((uv_depth[:, 0] - self.cu) * uv_depth[:, 2]) / self.fu + self.bx
y = ((uv_depth[:, 1] - self.cv) * uv_depth[:, 2]) / self.fv + self.by
pts_3d_cam = np.zeros((n, 3))
pts_3d_cam[:, 0] = x
pts_3d_cam[:, 1] = y
pts_3d_cam[:, 2] = uv_depth[:, 2]
return pts_3d_cam
def project_cam_to_image(self, pts_3d_rect: np.ndarray) -> np.ndarray:
"""Project camera coordinate to image.
Args:
pts_3d_ego: nx3 points in egovehicle coord
Returns:
nx3 points in image coord + depth
"""
uv_cam = self.cart2hom(pts_3d_rect).T
uv = self.K.dot(uv_cam)
uv[0:2, :] /= uv[2, :]
return uv.transpose()
def load_image(img_filename: Union[str, Path]) -> np.ndarray:
"""Load image.
Args:
img_filename (str): Image file name
Returns:
Image data
"""
return imageio.imread(img_filename)
def load_calib(calib_filepath: Union[str, Path]) -> Dict[Any, Calibration]:
"""Load Calibration object for all camera from calibration filepath
Args:
calib_filepath (str): path to the calibration file
Returns:
list of Calibration object for all cameras
"""
with open(calib_filepath, "r") as f:
calib = json.load(f)
calib_list = {}
for camera in CAMERA_LIST:
cam_config = get_calibration_config(calib, camera)
calib_cam = next(
(c for c in calib["camera_data_"] if c["key"] == f"image_raw_{camera}"),
None,
)
if calib_cam is None:
continue
calib_ = Calibration(cam_config, calib_cam)
calib_list[camera] = calib_
return calib_list
def load_stereo_calib(calib_filepath: Union[str, Path]) -> Dict[Any, Calibration]:
"""Load Calibration object for the rectified stereo cameras from the calibration filepath
Args:
calib_filepath (str): path to the stereo calibration file
Returns:
list of stereo Calibration object for the rectified stereo cameras
"""
with open(calib_filepath, "r") as f:
calib = json.load(f)
calib_list = {}
for camera in RECTIFIED_STEREO_CAMERA_LIST:
cam_config = get_calibration_config(calib, camera)
calib_cam = next(
(c for c in calib["camera_data_"] if c["key"] == f"image_raw_{camera}"),
None,
)
if calib_cam is None:
continue
calib_ = Calibration(cam_config, calib_cam)
calib_list[camera] = calib_
return calib_list
def get_camera_extrinsic_matrix(config: Dict[str, Any]) -> np.ndarray:
"""Load camera calibration rotation and translation.
Note that the camera calibration file contains the SE3 for sensor frame to the vehicle frame, i.e.
pt_egovehicle = egovehicle_SE3_sensor * pt_sensor
Then build extrinsic matrix from rotation matrix and translation, a member
of SE3. Then we return the inverse of the SE3 transformation.
Args:
config: Calibration config in json, or calibration file path.
Returns:
Camera rotation and translation matrix.
"""
vehicle_SE3_sensor = config["vehicle_SE3_camera_"]
egovehicle_t_camera = np.array(vehicle_SE3_sensor["translation"])
egovehicle_q_camera = vehicle_SE3_sensor["rotation"]["coefficients"]
egovehicle_R_camera = quat2rotmat(egovehicle_q_camera)
egovehicle_T_camera = SE3(rotation=egovehicle_R_camera, translation=egovehicle_t_camera)
return egovehicle_T_camera.inverse().transform_matrix
def get_camera_intrinsic_matrix(camera_config: Dict[str, Any]) -> np.ndarray:
"""Load camera calibration data and constructs intrinsic matrix.
Args:
camera_config: Calibration config in json
Returns:
Camera intrinsic matrix.
"""
intrinsic_matrix = np.zeros((3, 4))
intrinsic_matrix[0, 0] = camera_config["focal_length_x_px_"]
intrinsic_matrix[0, 1] = camera_config["skew_"]
intrinsic_matrix[0, 2] = camera_config["focal_center_x_px_"]
intrinsic_matrix[1, 1] = camera_config["focal_length_y_px_"]
intrinsic_matrix[1, 2] = camera_config["focal_center_y_px_"]
intrinsic_matrix[2, 2] = 1.0
return intrinsic_matrix
def get_calibration_config(calibration: Dict[str, Any], camera_name: str) -> CameraConfig:
"""
Get calibration config dumped with log.
Args:
calibration
camera_name: name of the camera.
Returns:
instance of CameraConfig class
"""
all_camera_data = calibration["camera_data_"]
for camera_data in all_camera_data:
if camera_name in camera_data["key"]:
camera_calibration = camera_data["value"]
break
else:
raise ValueError(f"Unknown camera name: {camera_name}")
camera_extrinsic_matrix = get_camera_extrinsic_matrix(camera_calibration)
camera_intrinsic_matrix = get_camera_intrinsic_matrix(camera_calibration)
img_width, img_height = get_image_dims_for_camera(camera_name)
if img_width is None or img_height is None:
raise ValueError(f"Specified camera has unknown dimensions: {camera_name}")
return CameraConfig(
camera_extrinsic_matrix,
camera_intrinsic_matrix,
img_width,
img_height,
camera_calibration["distortion_coefficients_"],
)
def point_cloud_to_homogeneous(points: np.ndarray) -> np.ndarray:
"""
Args:
points: Numpy array of shape (N,3)
Returns:
Numpy array of shape (N,4)
"""
num_pts = points.shape[0]
return np.hstack([points, np.ones((num_pts, 1))])
def remove_nan_values(uv: np.ndarray, uv_cam: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
"""Accept corrupt array"""
uv = uv.T
uv_cam = uv_cam.T
x_valid_bool = np.logical_not(np.isnan(uv[:, 0]))
y_valid_bool = np.logical_not(np.isnan(uv[:, 1]))
xy_valid_bool = np.logical_and(x_valid_bool, y_valid_bool)
uv = uv[xy_valid_bool]
uv_cam = uv_cam[xy_valid_bool]
return uv.T, uv_cam.T
def determine_valid_cam_coords(uv: np.ndarray, uv_cam: np.ndarray, camera_config: CameraConfig) -> np.ndarray:
"""
Given a set of coordinates in the image plane and corresponding points
in the camera coordinate reference frame, determine those points
that have a valid projection into the image. 3d points with valid
projections have x coordinates in the range [0,img_width-1], y-coordinates
in the range [0,img_height-1], and a positive z-coordinate (lying in
front of the camera frustum).
Args:
uv: Numpy array of shape (N,2)
uv_cam: Numpy array of shape (N,3)
camera_config: A camera configuration
Returns:
Numpy array of shape (N,) with dtype bool
"""
x_valid = np.logical_and(0 <= uv[:, 0], uv[:, 0] < camera_config.img_width)
y_valid = np.logical_and(0 <= uv[:, 1], uv[:, 1] < camera_config.img_height)
z_valid = uv_cam[2, :] > 0
valid_pts_bool = np.logical_and(np.logical_and(x_valid, y_valid), z_valid)
return valid_pts_bool
# Make use of typing.overload so that we can robustly type-check the return
# value of this function.
# See https://mypy.readthedocs.io/en/latest/literal_types.html
# These tuples are:
# uv: Numpy array of shape (N,2) with dtype np.float32
# uv_cam: Numpy array of shape (N,3) with dtype np.float32
# valid_pts_bool: Numpy array of shape (N,) with dtype bool
# camera configuration : (only if you asked for it).
_ReturnWithConfig = Tuple[np.ndarray, np.ndarray, np.ndarray, CameraConfig]
_ReturnWithoutConfig = Tuple[np.ndarray, np.ndarray, np.ndarray]
@overload
def project_lidar_to_img(
lidar_points_h: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
return_camera_config: Literal[True],
remove_nan: bool = False,
) -> _ReturnWithConfig:
...
@overload
def project_lidar_to_img(
lidar_points_h: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
return_camera_config: Literal[False],
remove_nan: bool = False,
) -> _ReturnWithoutConfig:
...
@overload
def project_lidar_to_img(
lidar_points_h: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
return_camera_config: bool = False,
remove_nan: bool = False,
) -> Union[_ReturnWithConfig, _ReturnWithoutConfig]:
...
def project_lidar_to_img(
lidar_points_h: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
return_camera_config: bool = False,
remove_nan: bool = False,
) -> Union[_ReturnWithConfig, _ReturnWithoutConfig]:
"""
Args:
lidar_points_h: Numpy array of shape (4,N)
calib_data: calibration data
camera_name: representing name of this camera sensor
return_camera_config: adds camera config to the return tuple
remove_nan: filter out nan values from uv and uv_cam
Returns:
uv: Numpy array of shape (N,2) with dtype np.float32
uv_cam: Numpy array of shape (3,N) with dtype np.float32
valid_pts_bool: Numpy array of shape (N,) with dtype bool
"""
camera_config = get_calibration_config(calib_data, camera_name)
uv_cam = camera_config.extrinsic.dot(lidar_points_h)
uv = camera_config.intrinsic.dot(uv_cam)
if remove_nan:
uv, uv_cam = remove_nan_values(uv, uv_cam)
uv[0:2, :] /= uv[2, :]
uv = uv.T
uv = uv[:, :2]
valid_pts_bool = determine_valid_cam_coords(uv, uv_cam, camera_config)
if return_camera_config is True:
return uv, uv_cam, valid_pts_bool, camera_config
return uv, uv_cam, valid_pts_bool
SMALL_VALUE_THRESHOLD = 1e-9
def proj_cam_to_uv(
uv_cam: np.ndarray, camera_config: CameraConfig
) -> Tuple[np.ndarray, np.ndarray, np.ndarray, CameraConfig]:
num_points = uv_cam.shape[0]
uvh = np.zeros((num_points, 3))
# (x_transformed_m, y_transformed_m, z_transformed_m)
for idx in range(num_points):
x_transformed_m = uv_cam[idx, 0]
y_transformed_m = uv_cam[idx, 1]
z_transformed_m = uv_cam[idx, 2]
z_transformed_fixed_m = z_transformed_m
# If we're behind the camera, z value (homogeneous coord w in image plane)
# will be negative. If we are on the camera, there would be division by zero
# later. To prevent that, move an epsilon away from zero.
Z_EPSILON = 1.0e-4
if np.absolute(z_transformed_m) <= Z_EPSILON:
z_transformed_fixed_m = np.sign(z_transformed_m) * Z_EPSILON
pinhole_x = x_transformed_m / z_transformed_fixed_m
pinhole_y = y_transformed_m / z_transformed_fixed_m
K = camera_config.intrinsic
u_px = K[0, 0] * pinhole_x + K[0, 1] * pinhole_y + K[0, 2]
v_px = K[1, 1] * pinhole_y + K[1, 2]
uvh[idx] = np.array([u_px, v_px, z_transformed_m])
uv = uvh[:, :2]
valid_pts_bool = determine_valid_cam_coords(uv, uv_cam.T, camera_config)
return uv, uv_cam.T, valid_pts_bool, camera_config
def distort_single(radius_undist: float, distort_coeffs: List[float]) -> float:
"""
Calculate distortion for a single undistorted radius.
Note that we have 3 distortion parameters.
Args:
radius_undist: undistorted radius
distort_coeffs: list of distortion coefficients
Returns:
distortion radius
"""
radius_dist = radius_undist
r_u_pow = radius_undist
for distortion_coefficient in distort_coeffs:
r_u_pow *= radius_undist ** 2
radius_dist += r_u_pow * distortion_coefficient
return radius_dist
def project_lidar_to_undistorted_img(
lidar_points_h: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
remove_nan: bool = False,
) -> Tuple[np.ndarray, np.ndarray, np.ndarray, CameraConfig]:
camera_config = get_calibration_config(calib_data, camera_name)
R = camera_config.extrinsic[:3, :3]
t = camera_config.extrinsic[:3, 3]
cam_SE3_egovehicle = SE3(rotation=R, translation=t)
points_egovehicle = lidar_points_h.T[:, :3]
uv_cam = cam_SE3_egovehicle.transform_point_cloud(points_egovehicle)
return proj_cam_to_uv(uv_cam, camera_config)
# Make use of typing.overload so that we can robustly type-check the return
# value of this function.
# See https://mypy.readthedocs.io/en/latest/literal_types.html
# These tuples are:
# uv: Numpy array of shape (N,2) with dtype np.float32
# uv_cam: Numpy array of shape (N,3) with dtype np.float32
# valid_pts_bool: Numpy array of shape (N,) with dtype bool
# camera configuration : (only if you asked for it).
_ReturnWithOptConfig = Tuple[
Optional[np.ndarray],
Optional[np.ndarray],
Optional[np.ndarray],
Optional[CameraConfig],
]
_ReturnWithoutOptConfig = Tuple[Optional[np.ndarray], Optional[np.ndarray], Optional[np.ndarray]]
@overload
def project_lidar_to_img_motion_compensated(
pts_h_lidar_time: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
cam_timestamp: int,
lidar_timestamp: int,
dataset_dir: str,
log_id: str,
return_K: Literal[True],
) -> _ReturnWithOptConfig:
...
@overload
def project_lidar_to_img_motion_compensated(
pts_h_lidar_time: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
cam_timestamp: int,
lidar_timestamp: int,
dataset_dir: str,
log_id: str,
return_K: Literal[False],
) -> _ReturnWithoutOptConfig:
...
@overload
def project_lidar_to_img_motion_compensated(
pts_h_lidar_time: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
cam_timestamp: int,
lidar_timestamp: int,
dataset_dir: str,
log_id: str,
return_K: bool = False,
) -> Union[_ReturnWithOptConfig, _ReturnWithoutOptConfig]:
...
def project_lidar_to_img_motion_compensated(
pts_h_lidar_time: np.ndarray,
calib_data: Dict[str, Any],
camera_name: str,
cam_timestamp: int,
lidar_timestamp: int,
dataset_dir: str,
log_id: str,
return_K: bool = False,
) -> Union[_ReturnWithOptConfig, _ReturnWithoutOptConfig]:
"""
Because of the high frame rate, motion compensation's role between the
sensors is not very significant, moving points only by millimeters
to centimeters. If the vehicle is moving at 25 miles per hour, equivalent
to 11 meters/sec, then in 17 milliseconds (the max time between a lidar sweep
and camera image capture) we should be able to move up to 187 millimeters.
This can be verified in practice as the mean_change:
mean_change = np.amax(pts_h_cam_time.T[:,:3] - pts_h_lidar_time ,axis=0)
Adjust LiDAR points for ego-vehicle motion. This function accepts the
egovehicle's pose in the city map both at camera time and also at
the LiDAR time.
We perform the following transformation, where "ego" stands for
egovehicle reference frame
pt_ego_cam_t = ego_cam_t_SE3_map * map_SE3_ego_lidar_t * pt_ego_lidar_t
Note that both "cam_time_pts_h" and "lidar_time_pts_h" are 3D points in the
vehicle coordinate frame, but captured at different times. These LiDAR points
always live in the vehicle frame, but just in different timestamps. If we take
a lidar point in the egovehicle frame, captured at lidar time, and bring it into
the map at this lidar timestamp, then we know the transformation from map to
egovehicle reference frame at the time when the camera image was captured.
Thus, we move from egovehicle @ lidar time, to the map (which is time agnostic),
then we move from map to egovehicle @camera time. Now we suddenly have lidar points
living in the egovehicle frame @ camera time.
Args:
pts_h_lidar_time: Numpy array of shape (4,N)
calib_data: Python dictionary
camera_name: string, representing name of camera
cam_timestamp: integer, representing time in nanoseconds when
camera image was recorded
lidar_timestamp: integer, representing time in nanoseconds when
LiDAR sweep was recorded
dataset_dir: string, representing path to where dataset is stored
log_id: string, representing unique ID of vehicle log
return_K: return a copy of the
Returns:
uv: Numpy array of shape (N,2) with dtype np.float32
uv_cam: Numpy array of shape (N,3) with dtype np.float32
valid_pts_bool: Numpy array of shape (N,) with dtype bool
"""
# get transformation to bring point in egovehicle frame to city frame,
# at the time when camera image was recorded.
city_SE3_ego_cam_t = get_city_SE3_egovehicle_at_sensor_t(cam_timestamp, dataset_dir, log_id)
# get transformation to bring point in egovehicle frame to city frame,
# at the time when the LiDAR sweep was recorded.
city_SE3_ego_lidar_t = get_city_SE3_egovehicle_at_sensor_t(lidar_timestamp, dataset_dir, log_id)
if city_SE3_ego_cam_t is None or city_SE3_ego_lidar_t is None:
if return_K:
return None, None, None, None
else:
return None, None, None
# convert back from homogeneous
pts_h_lidar_time = pts_h_lidar_time.T[:, :3]
ego_cam_t_SE3_ego_lidar_t = city_SE3_ego_cam_t.inverse().right_multiply_with_se3(city_SE3_ego_lidar_t)
pts_h_cam_time = ego_cam_t_SE3_ego_lidar_t.transform_point_cloud(pts_h_lidar_time)
pts_h_cam_time = point_cloud_to_homogeneous(pts_h_cam_time).T
return project_lidar_to_img(pts_h_cam_time, calib_data, camera_name, return_K)