colorply.mm3d¶

colorply.mm3d.calibration¶

Class object for calibration definition. Note that class objects are heavy weight in python, therefore these class won’t be (always) used in the main core of colorply.

class colorply.mm3d.calibration.Calib(filename)[source]¶: A Calib object stores camera calibration information generated by MicMac. The calibration have always a xml extension - a MicMac standard.

class colorply.mm3d.calibration.Ori(filename)[source]¶: An Ori object stores orientation information generated by MicMac. The orientation files have always a xml extension - a MicMac standard.

colorply.mm3d.functional¶

Read and extract informations from MicMac xml calibration files. Functional implementation.

colorply.mm3d.functional.read_S(nameIMGxml)[source]¶

This function extracts the images’s center from the xml file.

Note

Usually, it is “Orientation-Im[n°i].JPG.xml”

Parameters:	nameIMGxml (str) – The name of the file generated by MM3D.
Returns:	Center of the IMG, of shape 1x3
Return type:	np.ndarray

colorply.mm3d.functional.read_calib(calibxml)[source]¶

This function extracts the calibration parameters from the xml file.

Note

Usually, it is similar to “AutoCal_[Focal]_[CameraName].xml”

Parameters:	calibxml (str) – Name of the camera calibration file
Returns:	Returns F, PPS, distorsion coefficients a, b, c, size
Return type:	dict

colorply.mm3d.functional.read_calib_F(calibxml)[source]¶

This function extracts the calibration parameters from the xml file.

Note

Usually, it is similar to “AutoCal_[Focal]_[CameraName].xml”

Parameters:	calibxml (str) – Name of the camera calibration file
Returns:	Coordinates of the point F (focale, units : pix)
Return type:	np.ndarray

colorply.mm3d.functional.read_calib_PPS(calibxml)[source]¶

This function extracts the calibration parameters from the xml file.

Note

Usually, it is similar to “AutoCal_[Focal]_[CameraName].xml”

Parameters:	calibxml (str) – Name of the camera calibration file
Returns:	Coordinates of the PPS, of shape 1x3
Return type:	np.ndarray

colorply.mm3d.functional.read_calib_distorsion(calibxml)[source]¶

This function extracts the calibration parameters from the xml file.

Note

Usually, it is similar to “AutoCal_[Focal]_[CameraName].xml”

Parameters:	calibxml (str) – Name of the camera calibration file
Returns:	Distorsion coefficients [a, b, c]
Return type:	np.ndarray

colorply.mm3d.functional.read_ori(nameIMGxml)[source]¶

This function extracts the rotation matrix from the xml file and extracts the images’s center from the xml file.

Note

Usually, it is “Orientation-Im[n°i].JPG.xml”

Parameters:	nameIMGxml (str) – The name of the file generated by MM3D.
Returns:	The rotation of the img, the center of the IMG, tuple(np.array(matrix rotation), np.array(coord S))
Return type:	tuple

colorply.mm3d.functional.read_orientation(nameIMGxml)[source]¶

This function extracts the rotation matrix from the xml file.

Parameters:	nameIMGxml (str) – name of the file generated by MM3D. note:: (.) – Usually, it is “Orientation-Im[n°i].JPG.xml”
Returns:	Rotation of the img, of shape 3x3
Return type:	np.ndarray

colorply.mm3d.functional.read_size(calibxml)[source]¶

This function extracts the size of an image from the xml file.

Note

Usually, it is similar to “AutoCal_[Focal]_[CameraName].xml”

Parameters:	calibxml (str) – Name of the camera calibration file
Returns:	np.ndarray The size of the image resolution

colorply.io¶

colorply.io.imfile¶

Load a set of images with their orientation.

colorply.io.imfile.load_images(orientation_dir, image_dir='.', image_ext='TIF', channel='unk')[source]¶

Reads all images and returns a list of image objects

Parameters:	orientation_dir (str) – orientation directory of MicMac files image_dir (str) – image directory image_ext (str) – image extensiton (ex: ‘TIFF’) channel (str) – name of the channel
Returns:
Return type:	list(Image)

colorply.io.ply¶

Contains reading and writing functions for ply files as well as a conversion function and other useful functions related to ply files

colorply.io.ply.add_channel_from_plydata(plydata, coord, channel)[source]¶

Add a channel to the numpy data.

Parameters:	plydata (plyfile.PlyData) – Raw data. coord (numpy.ndarray) – The coordinates of the 3D points. channel (str) – Name of the channel to add.
Returns:	data – DESCRIPTION.
Return type:	TYPE

colorply.io.ply.extract_channel_from_plydata(plydata, channel='all')[source]¶

Extract a channel from a 3D cloud points.

Parameters:	plydata (plyfile.PlyData) – The data to extract the channel. channel (str, optional) – The name of the channel to extract. The default is “all”.
Returns:	data – The extracted channel data.
Return type:	numpy.ndaray

colorply.io.ply.plydata_to_array(plydata)[source]¶

Convert a plydata to numpy array.

Parameters:	plydata (plyfile.PlyData) – The plydata to convert.
Returns:	The converted data, containing the 3D coordinates of the plydata’s points.
Return type:	numpy.ndarray

colorply.io.ply.read_plyfile(file_name)[source]¶

Read and extract the data of a ply file.

Parameters:	file_name (str) – The path to the ply file.
Raises:	`FileNotFoundError` – If the file is not found, raises an error.
Returns:	plydata – The data of the cloud points file.
Return type:	plyfile.PlyData

colorply.io.ply.write_plydata(plydata, data_channel, new_channel_name, outfile_name='my_cloud.ply')[source]¶

Create a ply file from plydata. Can add an additional channel to the plydata.

Parameters:	plydata (plyfile.PlyData) – The plydata to write in the file. data_channel (numpy.ndarray) – Data of the added channel. new_channel_name (str) – Name of the new added channel. outfile_name (str, optionnal) – Name of the ply file created. The default is “my_cloud.ply”.
Returns:
Return type:	None

colorply.io.readxml¶

colorply.io.readxml.read_S(nameIMGxml)[source]¶

This function extract the images’s center from the xml file.

Parameters:	nameIMGxml (str) – the name of the file generated by MM3D. Usually, it is “Orientation-Im[n°i].JPG.xml”
Returns:	numpy.ndarray
Return type:	the center of the IMG (size 1*3)

colorply.io.readxml.read_calib(calibxml)[source]¶

This function extract the calibration parameters from the xml file.

Parameters:	calibxml (str) – the name of the calibration file generated by MM3D (ex: “AutoCal_Foc-24000_Cam-DSLRA850.xml”)
Returns:	tuple
Return type:	F, PPS, distorsion coefficients a, b, c, size

colorply.io.readxml.read_calib_F(calibxml)[source]¶

This function extract the calibration parameters from the xml file.

Parameters:	calibxml (str) – the name of the calibration file generated by MM3D. (ex: “AutoCal_Foc-24000_Cam-DSLRA850.xml”)
Returns:	numpy.ndarray
Return type:	coordinates of the point F (focale, units : pix), (size 1*)

colorply.io.readxml.read_calib_PPS(calibxml)[source]¶

This function extract the calibration parameters from the xml file.

Parameters:	calibxml (str) – the name of the calibration file generated by MM3D (ex: “AutoCal_Foc-24000_Cam-DSLRA850.xml”).
Returns:	numpy.ndarray
Return type:	coordinates of the PPS (size 1*3)

colorply.io.readxml.read_calib_distorsion(calibxml)[source]¶

This function extract the calibration parameters from the xml file.

Parameters:	calibxml (str) – the name of the calibration file generated by MM3D (ex: “AutoCal_Foc-24000_Cam-DSLRA850.xml”).
Returns:	numpy.ndarray
Return type:	distorsion coefficients a, b, c (size 1*3)

colorply.io.readxml.read_ori(nameIMGxml)[source]¶

This function extract the rotation matrix from the xml file and extract the images’s center from the xml file.

Parameters:	nameIMGxml (str) – the name of the file generated by MM3D. Usually, it is “Orientation-Im[n°i].JPG.xml”
Returns:	tuple
Return type:	the rotation of the img, the center of the IMG, (matrix rotation, coord S)

colorply.io.readxml.read_orientation(nameIMGxml)[source]¶

This function extract the rotation matrix from the xml file.

Parameters:	nameIMGxml (str) – the name of the file generated by MM3D. Usually, it is “Orientation-Im[n°i].JPG.xml”
Returns:	numpy.ndarray
Return type:	the rotation of the img (size 3*3)

colorply.io.readxml.read_size(calibxml)[source]¶

This function extract the size of an image from the xml file.

Parameters:	calibxml (str) – the name of the calibration file generated by MM3D.
Returns:	numpy.ndarray
Return type:	the size of the image resolution

colorply.process¶

colorply.process.image¶

Defines an Image, with its orientation, focal, symmetry.

class colorply.process.image.Image(name='None', channel='None', data=<sphinx.ext.autodoc.importer._MockObject object>, R=<sphinx.ext.autodoc.importer._MockObject object>, S=<sphinx.ext.autodoc.importer._MockObject object>, size=(4000, 3000))[source]¶: Define an image, with its name, channels, data, rotation and autocollimation.

colorply.process.imformula¶

This modules contains the necessary functions to compute the image formula for each “ground” point.

colorply.process.imformula.image_formula(F, M, R, S)[source]¶

Compute the image formula for the point M withoud distorsion

Parameters:	F (numpy.ndarray) – Position of the autocollimation point in the image coordinate system. M (numpy.ndarray) – Position of the point in real space coordinates. R (numpy.ndarray) – Rotation matrix representing the orientation of the image coordinate system in the real space coordinate system. S (numpy.ndarray) – Position of the autocollimation point in the real space coordinate system.
Returns:	Image coordinates of M projected.
Return type:	numpy.ndarray

colorply.process.imformula.image_formula_corrected(F, M, R, S, pps, a, b, c)[source]¶

Compute the image formula for the point M with distorsion.

Parameters:	F (numpy.ndarray) – Position of the autocollimation point in the image coordinate system. M (numpy.ndarray) – Position of the point in real space coordinates. R (numpy.ndarray) – Rotation matrix representing the orientation of the image coordinate system in the real space coordinate system. S (numpy.ndarray) – Position of the autocollimation point in the real space coordinate system. pps (numpy.ndarray) – Position of the point of 0 distorsion ine the radial_std model. a (float) – 3rd order coefficient of the distorsion polynomial. b (float) – 5th order coefficient of the distorsion polynomial. c (float) – 7th order coefficient of the distorsion polynomial.
Returns:	Corrected point position.
Return type:	numpy.ndarray

colorply.process.imformula.radial_std(m_image, pps, a, b, c)[source]¶

Corrects the postion of the point according to the standard radial distorsion model.

Note

We use Horner’s method to evaluate \(ar^2 + br^4 + cr^6\)

Parameters:	m_image (numpy.ndarray) – Position of the projected point in pixel. pps (numpy.ndarray) – Position of the point of 0 distorsion in the radial model. a (float) – 3rd order coefficient of the distorsion polynomial. b (float) – 5th order coefficient of the distorsion polynomial. c (float) – 7th order coefficient of the distorsion polynomial.
Returns:	Corrected point position.
Return type:	numpy.ndarray

colorply.process.improcess¶

Module to preprocess images.

colorply.process.improcess.add_cloud_channel(input_ply, output_ply, calibration_file, orientation_dir, image_dir, image_ext='TIF', channel='unk', mode='avg', progress=None)[source]¶

All together. Project all points from a ply file.

Parameters:	input_ply (plydata) – The cloud points to add a new channel. output_ply (plydata) – The output cloud points, with the new channel. calibration_file (str) – Path to the MicMac calibration file. orientation_dir (str) – Path to the MicMac images orientation directory. image_dir (str) – Path to the images with the channel to add. image_ext (str, optional) – Images extension (JPG, TIFF, PNG etc.). The default is “TIF”. channel (str, optional) – Channe name. The default is “unk”. mode (str, optional) – Way to add the new radiometry to the cloud points. The default is “avg”. progress (PyQt progress bar, optional) – The bar of progress. The default is None.
Raises:	`FileNotFoundError` – If files are not found, raise an error.
Returns:	Return True when done.
Return type:	Bool

colorply.process.improcess.radiometry_projection(M, images_loaded, calibration, mode='avg', scale=0.0038909912109375)[source]¶

This function add to a point M a new channel, computed from the loaded images. Therefore, the images should be calibrated in the same reference of your point M. Usually, the 3D point M is part of a cloud points. The point M is projected in all images that see the point. Then, the radiometry from the images channel is added to the point, with different mode.

Parameters:	M (numpy.ndarray) – Position of the point in real space coordinates. images_loaded (list of Images) – List of the image loaded. These images need to be referenced in the same system as the point M. Usually with MicMac calibrate all the images together. calibration (dict) – dict containing the camera calibration global parameters. mode (str, optional) – The way the new radiometry is stacked in the new M channel. This can be with a mean of all radiometry that see the 3D point M. The default is “avg”. scale (float) – Used to scale a channel to [0, 255] values. For Sequoia camera, use a scale factor of 0.0038909912109375.
Returns:	Value of the new channel.
Return type:	float

colorply.ui¶

colorply.ui.call¶

This module recieves instruction from the ui and call the appropriate functions on the appropriate parameters.

colorply.ui.gui¶

This is the python-colorply GUI.

class colorply.ui.gui.MainWindow[source]¶

compute()[source]¶

Run the process module, with different threads.

Returns:
Return type:	None.

initUI()[source]¶

Initialyze the window with different buttons and actions.

Returns:
Return type:	None.

select_calib_dir()[source]¶

Select the MicMac calibration directory from the window.

Returns:
Return type:	None.

select_image_dir()[source]¶

Select the image directory from the window.

Returns:
Return type:	None.

select_input_ply()[source]¶

Select the input ply file from the window.

Returns:
Return type:	None.

select_ori_dir()[source]¶

Select the MicMac orientation directory from the window.

Returns:
Return type:	None.

select_output_ply()[source]¶

Select the output ply file from the window.

Returns:
Return type:	None.

class colorply.ui.gui.RunThread[source]¶

run(window)[source]¶

Run the process in a different thread.

Parameters:	window (PyQT5 window) – The main window.
Returns:
Return type:	None.

colorply.ui.gui.interface()[source]¶

Create the main window of Colorply.

Returns:
Return type:	None.

colorply.ui.palette¶

Set colors and theme to the interface.

colorply.ui.palette.set_dark_theme(application)[source]¶

Set a darker theme on the PyQt window.

Parameters:	application (PyQt Application) – The application to change theme.
Returns:	app – The new application an theme.
Return type:	PyQt Application