Welcome to SimpleStereo’s documentation!¶
+Welcome to SimpleStereo’s documentation!¶
Contents:
-
@@ -62,7 +63,7 @@
- @@ -106,7 +107,7 @@
[docs]class StereoRig:
- """
+ """
Keep together and manage all parameters of a calibrated stereo rig.
The essential E and fundamental F matrices are optional as they are not always available.
@@ -170,7 +171,7 @@ Source code for simplestereo._rigs
[docs] @classmethod
def fromFile(cls, filepath):
- """
+ """
Alternative initialization of StereoRig object from JSON file.
Parameters
@@ -201,7 +202,7 @@ Source code for simplestereo._rigs
return cls(res1, res2, intrinsic1, intrinsic2, distCoeffs1, distCoeffs2, R, T, F, E, reprojectionError)
[docs] def save(self, filepath):
- """
+ """
Save configuration to JSON file.
Save the current stereo rig configuration to a JSON file that can be loaded later.
@@ -230,7 +231,7 @@ Source code for simplestereo._rigs
json.dump(out, f, indent=4)
[docs] def getCenters(self):
- """
+ """
Calculate camera centers in world coordinates.
Anyway first camera will always be centered in zero (returned anyway).
@@ -248,7 +249,7 @@ Source code for simplestereo._rigs
return C1, C2
[docs] def getBaseline(self):
- """
+ """
Calculate the norm of the vector from camera 1 to camera 2.
Returns
@@ -260,7 +261,7 @@ Source code for simplestereo._rigs
return np.linalg.norm(C2) # No need to do C2 - C1 as C1 is always zero (origin of world system)
[docs] def getProjectionMatrices(self):
- """
+ """
Calculate the projection matrices of camera 1 and camera 2.
Returns
@@ -275,7 +276,7 @@ Source code for simplestereo._rigs
return Po1, Po2
[docs] def getFundamentalMatrix(self):
- """
+ """
Returns the fundamental matrix F.
If not set, F is computed from projection matrices using
@@ -301,7 +302,7 @@ Source code for simplestereo._rigs
return self.F
[docs] def getEssentialMatrix(self):
- """
+ """
Returns the essential matrix E.
If not set, E is computed from the fundamental matrix F and the camera matrices.
@@ -322,7 +323,7 @@ Source code for simplestereo._rigs
return self.E
[docs] def undistortImages(self, img1, img2, changeCameras=False, alpha=1, destDims=None, centerPrincipalPoint=False):
- """
+ """
Undistort two given images of the stereo rig.
This method wraps `cv2.getOptimalNewCameraMatrix()` followed
@@ -378,7 +379,7 @@ Source code for simplestereo._rigs
[docs]class RectifiedStereoRig(StereoRig):
- """
+ """
Keep together and manage all parameters of a calibrated and rectified stereo rig.
It includes all the parameters of StereoRig plus two rectifying homographies. Differently from OpenCV,
@@ -442,7 +443,7 @@ Source code for simplestereo._rigs
[docs] @classmethod
def fromFile(cls, filepath):
- """
+ """
Alternative initialization of StereoRigRectified object from JSON file.
Parameters
@@ -476,7 +477,7 @@ Source code for simplestereo._rigs
return cls(Rcommon, rectHomography1, rectHomography2, res1, res2, intrinsic1, intrinsic2, distCoeffs1, distCoeffs2, R, T, F, E, reprojectionError)
[docs] def save(self, filepath):
- """
+ """
Save configuration to JSON file.
Save the current stereo rig configuration to a JSON file that can be loaded later.
@@ -508,7 +509,7 @@ Source code for simplestereo._rigs
json.dump(out, f, indent=4)
[docs] def getRectifiedProjectionMatrices(self):
- """
+ """
Calculate the projection matrices of camera 1 and camera 2 after rectification.
New projection matrices, after rectification, share the same orientation `Rcommon`,
@@ -528,7 +529,7 @@ Source code for simplestereo._rigs
return P1, P2
[docs] def computeRectificationMaps(self, destDims=None, alpha=1):
- """
+ """
Compute the two maps to undistort and rectify the stereo pair.
This method wraps ``cv2.initUndistortRectifyMap()`` plus a custom fitting algorithm to keep image within dimensions.
@@ -580,7 +581,7 @@ Source code for simplestereo._rigs
self.mapx2, self.mapy2 = cv2.initUndistortRectifyMap(self.intrinsic2, self.distCoeffs2, R2, self.K2, destDims, cv2.CV_32FC1)
[docs] def rectifyImages(self, img1, img2, interpolation=cv2.INTER_LINEAR):
- """
+ """
Undistort, rectify and apply affine transformation to a couple of images coming from the stereo rig.
*img1* and *img2* must be provided as in calibration (es. img1 is the left image, img2 the right one).
@@ -606,7 +607,7 @@ Source code for simplestereo._rigs
return img1_rect, img2_rect
[docs] def get3DPoints(self, disparityMap):
- """
+ """
Get the 3D points in the space from the disparity map.
If the calibration was done with real world units (e.g. millimeters),
@@ -668,7 +669,7 @@ Source code for simplestereo._rigs
[docs]class StructuredLightRig(StereoRig):
- """
+ """
StereoRig child class with structured light methods.
"""
def __init__(self, r):
@@ -691,7 +692,7 @@ Source code for simplestereo._rigs
return StructuredLightRig(StereoRig.fromFile(self))
[docs] def triangulate(self, camPoints, projPoints):
- """
+ """
Given camera-projector correspondences, proceed with
triangulation.
@@ -739,7 +740,7 @@ Source code for simplestereo._rigs
return finalPoints
[docs] def undistortCameraImage(self, imgObj):
- """
+ """
Undistort camera image.
Parameters
@@ -770,7 +771,7 @@ Quick search
-
+
@@ -791,7 +792,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_modules/simplestereo/active.html b/docs/_modules/simplestereo/active.html
index d799cf4..7f4b602 100644
--- a/docs/_modules/simplestereo/active.html
+++ b/docs/_modules/simplestereo/active.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -60,7 +61,7 @@ Source code for simplestereo.active
[docs]def generateGrayCodeImgs(targetDir, resolution):
- """
+ """
Generate Gray Codes and save it to PNG images.
Starts from the couple of images *0.png* and *1.png* (one is the
@@ -104,7 +105,7 @@ Source code for simplestereo.active
def _getCentralPeak(length, period, shift=0):
- """
+ """
Get maximum intensity pixel position in a fringe with central stripe
built from :func:`ss.active.buildFringe`.
@@ -124,7 +125,7 @@ Source code for simplestereo.active
[docs]def buildFringe(period, shift=0, dims=(1280,720), vertical=False, stripeColor=None, dtype=np.uint8):
- """
+ """
Build sinusoidal fringe image.
Parameters
@@ -188,7 +189,7 @@ Source code for simplestereo.active
[docs]def buildBinaryFringe(period=10, shift=0, dims=(1280,720), vertical=False, stripeColor=None, dtype=np.uint8):
- """
+ """
Build binary fringe image.
Parameters
@@ -253,7 +254,7 @@ Source code for simplestereo.active
[docs]def buildAnaglyphFringe(period=10, shift=0, dims=(1280,720), vertical=False, dtype=np.uint8):
- """
+ """
Build sinusoidal anaglyph fringe image.
Assumes BGR images, using blue and red as complementary colors and
@@ -309,7 +310,7 @@ Source code for simplestereo.active
[docs]def findCentralStripe(image, color='r', sensitivity=0.5, interpolation='linear'):
- """
+ """
Find coordinates of a colored stripe in the image.
Search is done with subpixel accuracy only along the x-axis
@@ -388,7 +389,7 @@ Source code for simplestereo.active
###### (c) Pasquale Lafiosca 2020 ######
########################################
[docs]class StereoFTP:
- """
+ """
Manager of the Stereo Fourier Transform Profilometry.
Parameters
@@ -442,7 +443,7 @@ Source code for simplestereo.active
[docs] @staticmethod
def convertGrayscale(img):
- """
+ """
Convert to grayscale using max.
This keeps highest BGR value over the central stripe
@@ -469,7 +470,7 @@ Source code for simplestereo.active
def _getProjectorMapping(self, z, interpolation = cv2.INTER_CUBIC):
- """
+ """
Find projector image points corresponding to each camera pixel
after projection on reference plane to build coordinates and
virtual reference image (as seen from camera)
@@ -532,7 +533,7 @@ Source code for simplestereo.active
def _calculateCameraFrequency(self, objPoints):
- """
+ """
Estimate fc from system geometry, fp and object points value.
Draw a plane at given z distance in front of the camera.
@@ -598,7 +599,7 @@ Source code for simplestereo.active
return 1/Tc
def _triangulate(self, camPoints, p_x, roi):
- """
+ """
For each camera undistorted point (c_x, c_y) and corresponding
projector x-value p_x, find 3D point using Fundamental matrix.
"""
@@ -645,7 +646,7 @@ Source code for simplestereo.active
[docs] def getCloud(self, imgObj, radius_factor=0.5, roi=None, unwrappingMethod=None, plot=False):
- """
+ """
Process an image and get the point cloud.
Parameters
@@ -804,7 +805,7 @@ Source code for simplestereo.active
ep = self.ep
### Find k values from central stripe
- '''
+ '''
# Calculate absolute phase shift [S. Zhang 2006 Novel method...]
theta_shift = phaseUnwrapped[cam_indexes[:,1],cam_indexes[:,0]]
theta_shift = np.mean(theta_shift)
@@ -881,7 +882,7 @@ Source code for simplestereo.active
[docs]class StereoFTPAnaglyph(StereoFTP):
- """
+ """
Manager of the Stereo Fourier Transform Profilometry using an
anaglyph pattern build with :func:`buildAnaglyphFringe`.
@@ -907,7 +908,7 @@ Source code for simplestereo.active
[docs] @staticmethod
def convertGrayscale(img):
- """
+ """
Convert to grayscale using Guo et al., "Improved fourier
transform profilometry for the automatic measurement of 3D
object shapes", 1990.
@@ -932,7 +933,7 @@ Source code for simplestereo.active
[docs] def getCloud(self, imgObj, radius_factor=0.5, roi=None, unwrappingMethod=None, plot=False):
- """
+ """
Process an anaglyph image and get the point cloud.
The pattern expected to be projected on the object is the one
@@ -1091,7 +1092,7 @@ Source code for simplestereo.active
ep = self.ep
### Find k values from central stripe
- '''
+ '''
# Calculate absolute phase shift [S. Zhang 2006 Novel method...]
theta_shift = phaseUnwrapped[cam_indexes[:,1],cam_indexes[:,0]]
theta_shift = np.mean(theta_shift)
@@ -1167,7 +1168,7 @@ Source code for simplestereo.active
return finalPoints.reshape(roi_h,roi_w,3)
[docs]class GrayCode:
- """
+ """
Wrapper for the Gray code method from OpenCV.
Structured-light implementation using camera-projector
@@ -1211,7 +1212,7 @@ Source code for simplestereo.active
[docs] def getCloud(self, images, roi=None):
- """
+ """
Perform the 3D point calculation from a list of images.
Parameters
@@ -1303,7 +1304,7 @@ Source code for simplestereo.active
[docs]class StereoFTP_Mapping(StereoFTP):
- """
+ """
Manager of the classic Stereo Fourier Transform Profilometry.
Classic method (does not use a virtual reference plane) but it does
@@ -1328,7 +1329,7 @@ Source code for simplestereo.active
[docs] def getCloud(self, imgObj, radius_factor=0.5, roi=None, unwrappingMethod=None, plot=False):
- """
+ """
Process an image and get the point cloud.
Parameters
@@ -1500,7 +1501,7 @@ Source code for simplestereo.active
GrayCodeSingle = GrayCode
[docs]class GrayCodeDouble:
- """
+ """
Wrapper for the Gray code method from OpenCV.
Conventional active stereo implementation, i.e. using two calibrated cameras and
@@ -1545,7 +1546,7 @@ Source code for simplestereo.active
#self.R_inv[3,3] = 1
[docs] def getCloud(self, images, roi1=None, roi2=None):
- """
+ """
Perform the 3D point calculation from a list of images.
Parameters
@@ -1648,7 +1649,7 @@ Source code for simplestereo.active
[docs]def computeROI(img, blackThreshold=10, extraMargin=0):
- """
+ """
Exclude black regions along borders.
Usually the projector does not illuminate the whole image area.
@@ -1740,7 +1741,7 @@ Source code for simplestereo.active
### TEMP FOR EXPERIMENTS
### Return phase shift and phase of object only (NO 3D)
[docs]class StereoFTP_PhaseOnly:
- """
+ """
Manager of the Stereo Fourier Transform Profilometry.
Parameters
@@ -1787,7 +1788,7 @@ Source code for simplestereo.active
[docs] @staticmethod
def convertGrayscale(img):
- """
+ """
Convert to grayscale using max.
This keeps highest BGR value over the central stripe
@@ -1810,7 +1811,7 @@ Source code for simplestereo.active
def _getProjectorMapping(self, z, interpolation = cv2.INTER_CUBIC):
- """
+ """
Find projector image points corresponding to each camera pixel
after projection on reference plane to build coordinates and
virtual reference image (as seen from camera)
@@ -1873,7 +1874,7 @@ Source code for simplestereo.active
def _calculateCameraFrequency(self, objPoints):
- """
+ """
Estimate fc from system geometry, fp and object points value.
Draw a plane at given z distance in front of the camera.
@@ -1939,7 +1940,7 @@ Source code for simplestereo.active
return 1/Tc
def _triangulate(self, camPoints, p_x, roi):
- """
+ """
For each camera undistorted point (c_x, c_y) and corresponding
projector x-value p_x, find 3D point using Fundamental matrix.
"""
@@ -1987,7 +1988,7 @@ Source code for simplestereo.active
[docs] def getPhase(self, imgObj, radius_factor=0.5, roi=None, plot=False):
- """
+ """
Process an image and get the point cloud.
Parameters
@@ -2128,7 +2129,7 @@ Quick search
-
+
@@ -2149,7 +2150,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_modules/simplestereo/calibration.html b/docs/_modules/simplestereo/calibration.html
index 2ee50a5..37be49f 100644
--- a/docs/_modules/simplestereo/calibration.html
+++ b/docs/_modules/simplestereo/calibration.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -62,7 +63,7 @@ Source code for simplestereo.calibration
[docs]def chessboardSingle(images, chessboardSize = DEFAULT_CHESSBOARD_SIZE, squareSize=1, showImages=False):
- """
+ """
Calibrate a single camera with a chessboard pattern.
Parameters
@@ -120,7 +121,7 @@ Source code for simplestereo.calibration
[docs]def chessboardStereo(images, chessboardSize = DEFAULT_CHESSBOARD_SIZE, squareSize=1):
- """
+ """
Performs stereo calibration between two cameras and returns a StereoRig object.
First camera (generally left) will be put in world origin.
@@ -202,7 +203,7 @@ Source code for simplestereo.calibration
[docs]def chessboardProCam(images, projectorResolution, chessboardSize = DEFAULT_CHESSBOARD_SIZE, squareSize=1,
black_thr=40, white_thr=5, camIntrinsic=None, camDistCoeffs=None):
- """
+ """
Performs stereo calibration between a camera (reference) and a projector.
Adapted from the code available (MIT licence) at https://github.com/kamino410/procam-calibration
@@ -375,7 +376,7 @@ Source code for simplestereo.calibration
def _getWhiteCenters(cam_corners_list, cam_int, cam_dist, chessboardSize, squareSize):
- """
+ """
From ordered camera chessboard corners and camera intrinsics, get
world coordinate of the center of the white squares.
@@ -436,7 +437,7 @@ Source code for simplestereo.calibration
[docs]def chessboardProCamWhite(images, projectorResolution, chessboardSize = DEFAULT_CHESSBOARD_SIZE, squareSize=1,
black_thr=40, white_thr=5, camIntrinsic=None, camDistCoeffs=None, extended=False):
- """
+ """
Performs stereo calibration between a camera (reference) and a projector.
Requires a chessboard with *black* top-left square.
@@ -645,7 +646,7 @@ Source code for simplestereo.calibration
[docs]def phaseShift(periods, projectorResolution, cameraImages, chessboardSize=DEFAULT_CHESSBOARD_SIZE, squareSize=1,
camIntrinsic=None, camDistCoeffs=None):
- """
+ """
Calibrate camera and projector using phase shifting and the
heterodyne principle [Reich 1997].
@@ -683,7 +684,7 @@ Source code for simplestereo.calibration
# Internal functions
def getPhase(imgPaths):
- """
+ """
Get ordered images and retrieve wrapped phase map.
"""
I = []
@@ -697,7 +698,7 @@ Source code for simplestereo.calibration
def unwrap(theta0, theta1, T0, T1):
- """
+ """
Given absolute phase `theta0`, wrapped phase `theta1` and their
respective periods `T0` and `T1`, unwrap `theta1`.
@@ -708,7 +709,7 @@ Source code for simplestereo.calibration
def getProjCoord(phase_x, phase_y):
- """
+ """
Return projector coordinate corresponding to absolute phase values.
"""
px = projectorResolution[0]*phase_x/(2*np.pi)
@@ -813,7 +814,7 @@ Source code for simplestereo.calibration
[docs]def phaseShiftWhite(periods, projectorResolution, cameraImages, chessboardSize=DEFAULT_CHESSBOARD_SIZE,
squareSize=1, camIntrinsic=None, camDistCoeffs=None, extended=False):
- """
+ """
Calibrate camera and projector using phase shifting and heterodyne
principle [Reich 1997]. Using center of white squares instead of
corners as targets.
@@ -860,7 +861,7 @@ Source code for simplestereo.calibration
# Internal functions
def getPhase(imgPaths):
- """
+ """
Get ordered images and retrieve wrapped phase map.
"""
I = []
@@ -874,7 +875,7 @@ Source code for simplestereo.calibration
def unwrap(theta0, theta1, T0, T1):
- """
+ """
Given absolute phase `theta0`, wrapped phase `theta1` and their
respective periods `T0` and `T1`, unwrap `theta1`.
@@ -885,7 +886,7 @@ Source code for simplestereo.calibration
def getProjCoord(phase_x, phase_y):
- """
+ """
Return projector coordinate corresponding to absolute phase values.
"""
px = projectorResolution[0]*phase_x/(2*np.pi)
@@ -983,7 +984,7 @@ Source code for simplestereo.calibration
# Calibrate projector
proj_rms, proj_int, proj_dist, proj_rvecs, proj_tvecs = cv2.calibrateCamera(
proj_objps_list, proj_corners_list, projectorResolution, None, None, None, None)
- '''
+ '''
# Calibrate projector WITHOUT LENS DISTORTION
proj_rms, proj_int, proj_dist, proj_rvecs, proj_tvecs = cv2.calibrateCamera(
proj_objps_list, proj_corners_list, projectorResolution, None, None, None, None, flags=cv2.CALIB_FIX_K1+cv2.CALIB_FIX_K2+cv2.CALIB_FIX_K3+cv2.CALIB_ZERO_TANGENT_DIST)
@@ -1007,7 +1008,7 @@ Source code for simplestereo.calibration
[docs]def generateChessboardSVG(chessboardSize, filepath, squareSize=20, border=10):
- """
+ """
Write the desired chessboard to a SVG file.
*chessboardSize* is expressed as (columns, rows) tuple, counting *internal line* columns and rows
@@ -1039,7 +1040,7 @@ Source code for simplestereo.calibration
[docs]def getFundamentalMatrixFromProjections(P1,P2):
- """
+ """
Compute the fundamental matrix from two projection matrices.
The algorithm is adapted from an original lesson of Cristina Turrini, UNIMI, Trento (09/04/2017).
@@ -1089,7 +1090,7 @@ Quick search
-
+
@@ -1110,7 +1111,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_modules/simplestereo/passive.html b/docs/_modules/simplestereo/passive.html
index 2c64595..2cbca00 100644
--- a/docs/_modules/simplestereo/passive.html
+++ b/docs/_modules/simplestereo/passive.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -53,7 +54,7 @@ Source code for simplestereo.passive
[docs]class StereoASW():
- """
+ """
Custom implementation of "Adaptive Support-Weight Approach
for Correspondence Search", K. Yoon, I. Kweon, 2006.
@@ -109,7 +110,7 @@ Source code for simplestereo.passive
[docs] def compute(self, img1, img2):
- """
+ """
Compute disparity map for BGR images.
Parameters
@@ -136,7 +137,7 @@ Source code for simplestereo.passive
[docs]class StereoGSW():
- """
+ """
*Incomplete* implementation of "Local stereo matching using geodesic support weights",
Asmaa Hosni, Michael Bleyer, Margrit Gelautz and Christoph Rhemann (2009).
@@ -184,7 +185,7 @@ Source code for simplestereo.passive
self.bins = bins
[docs] def compute(self, img1, img2):
- """
+ """
Compute disparity map for 3-color channel images.
"""
@@ -213,7 +214,7 @@ Quick search
-
+
@@ -234,7 +235,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_modules/simplestereo/points.html b/docs/_modules/simplestereo/points.html
index 6e4e0d9..4934305 100644
--- a/docs/_modules/simplestereo/points.html
+++ b/docs/_modules/simplestereo/points.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -47,7 +48,7 @@ Source code for simplestereo.points
[docs]def exportPLY(points3D, filepath, referenceImage=None, precision=6):
- """
+ """
Export raw point cloud to PLY file (ASCII).
Parameters
@@ -74,7 +75,7 @@ Source code for simplestereo.points
with open(filepath, "w") as f:
f.write("ply\nformat ascii 1.0\ncomment SimpleStereo point cloud export\n")
# Store the original array shape for future use
- f.write(f"comment Original array shape {'x'.join(str(d) for d in originalShape)}\n")
+ f.write(f"comment Original array shape {'x'.join(str(d) for d in originalShape)}\n")
f.write("element vertex {}\n".format(n))
f.write("property double x\nproperty double y\nproperty double z\n")
@@ -119,7 +120,7 @@ Source code for simplestereo.points
referenceImage[i], p=precision)) # Grayscale
[docs]def importPLY(filename, *properties):
- """
+ """
Import 3D coordinates from PLY file.
Parameters
@@ -161,7 +162,7 @@ Source code for simplestereo.points
[docs]def getAdimensional3DPoints(disparityMap):
- """
+ """
Get adimensional 3D points from the disparity map.
This is the adimensional version of
@@ -216,7 +217,7 @@ Source code for simplestereo.points
[docs]def distortPoints(points, distCoeff):
- '''
+ '''
Undistort relative coordinate points.
Parameters
@@ -274,7 +275,7 @@ Quick search
-
+
@@ -295,7 +296,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_modules/simplestereo/rectification.html b/docs/_modules/simplestereo/rectification.html
index e037e97..d124e9e 100644
--- a/docs/_modules/simplestereo/rectification.html
+++ b/docs/_modules/simplestereo/rectification.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -55,7 +56,7 @@ Source code for simplestereo.rectification
[docs]def getFittingMatrix(intrinsicMatrix1, intrinsicMatrix2, H1, H2, dims1, dims2,
distCoeffs1=None, distCoeffs2=None, destDims=None, alpha=1):
- """
+ """
Compute affine tranformation to fit the rectified images into desidered dimensions.
After rectification usually the image is no more into the original image bounds.
@@ -162,7 +163,7 @@ Source code for simplestereo.rectification
def _getCorners(H, intrinsicMatrix, dims, distCoeffs=None):
- """
+ """
Get points on the image borders after distortion correction and a rectification transformation.
Parameters
@@ -196,7 +197,7 @@ Source code for simplestereo.rectification
def _getCornersFromMatrix(M, dims):
- """
+ """
Calculate image corners from homography.
Parameters
@@ -225,7 +226,7 @@ Source code for simplestereo.rectification
[docs]def stereoRectify(rig):
- """
+ """
Rectify the StereoRig object using the standard OpenCV algorithm.
This function computes the new common camera orientation by averaging.
@@ -261,7 +262,7 @@ Source code for simplestereo.rectification
[docs]def fusielloRectify(rig):
- """
+ """
Computes the two rectifying homographies and returns a RectifiedStereoRig.
This method uses the algorithm illustrated in *A compact algorithm for rectification of stereo pair*,
@@ -308,7 +309,7 @@ Source code for simplestereo.rectification
def _lowLevelRectify(rig):
- """
+ """
Get basic rectification using Fusiello et al.
for *internal* purposes only.
@@ -342,7 +343,7 @@ Source code for simplestereo.rectification
[docs]def loopRectify(rig):
- """
+ """
Computes the two rectifying homographies and returns a RectifiedStereoRig.
This method is an implementation of the algorithm illustrated in
@@ -527,7 +528,7 @@ Source code for simplestereo.rectification
[docs]def getBestXShearingTransformation(rectHomography, dims):
- """
+ """
Get best shear transformation (affine) over x axis that minimizes distortion.
Applying a shearing transformation over the x axis does not affect rectification and allows to reduce
@@ -576,7 +577,7 @@ Source code for simplestereo.rectification
def directRectify(rig):
- """
+ """
Compute the analytical rectification homographies.
Compute the 3x3 transformations to rectify a couple of stereo images
@@ -785,7 +786,7 @@ Quick search
-
+
@@ -806,7 +807,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_modules/simplestereo/utils.html b/docs/_modules/simplestereo/utils.html
index 8859f99..0d8d13f 100644
--- a/docs/_modules/simplestereo/utils.html
+++ b/docs/_modules/simplestereo/utils.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -50,7 +51,7 @@ Source code for simplestereo.utils
[docs]class Capture:
- """Capture a video stream continuously.
+ """Capture a video stream continuously.
Allows to capture a video stream in a separate thread and grab the current frame when needed,
minimizing lags for streaming and webcams.
@@ -112,7 +113,7 @@ Source code for simplestereo.utils
self.__del__()
[docs] def start(self):
- """
+ """
Start the capture in a separate thread.
No need to call this for video files.
@@ -125,7 +126,7 @@ Source code for simplestereo.utils
self.t.start()
[docs] def stop(self):
- """
+ """
Stop the capture.
When finished, remember to call this method to **stop the capturing thread**.
@@ -144,7 +145,7 @@ Source code for simplestereo.utils
self.grab()
[docs] def get(self):
- """
+ """
Retrieve the current frame.
Returns None if there is no frame (e.g. end of video file).
@@ -155,7 +156,7 @@ Source code for simplestereo.utils
return self.flip(self.frame, 1)
[docs] def setResolution(self, width, height):
- """
+ """
Set resolution of the camera.
Do not call this for video files or when the thread is running.
@@ -193,11 +194,11 @@ Source code for simplestereo.utils
return retval
[docs] def getResolution(self):
- """ Return current resolution as (width, height) tuple. """
+ """ Return current resolution as (width, height) tuple. """
return self.video_capture.get(cv2.CAP_PROP_FRAME_WIDTH), self.video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT)
[docs] def setFrameRate(self, fps):
- """
+ """
Set framerate of the camera.
Do not call this for video files or when the thread is running.
@@ -221,7 +222,7 @@ Source code for simplestereo.utils
[docs]def moveExtrinsicOriginToFirstCamera(R1,R2,t1,t2):
- """
+ """
Center extrinsic parameters world coordinate system into camera 1.
Compute R (rotation from camera 1 to camera 2) and T (translation from camera 1 to camera 2) as used in OpenCV
@@ -250,7 +251,7 @@ Source code for simplestereo.utils
[docs]def getCrossProductMatrix(v):
- """
+ """
Build the 3x3 antisymmetric matrix representing the cross product with v.
In literature this is often indicated as [v]\ :subscript:`x`.
@@ -272,7 +273,7 @@ Source code for simplestereo.utils
[docs]def drawCorrespondingEpipolarLines(img1, img2, F, x1=[], x2=[], color=(0,0,255), thickness=1):
- """
+ """
Draw epipolar lines passing by given coordinates in img1 or img1.
The epipolar lines can be drawn on the images, knowing the
@@ -360,7 +361,7 @@ Quick search
-
+
@@ -381,7 +382,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/_static/basic.css b/docs/_static/basic.css
index 7577acb..bf18350 100644
--- a/docs/_static/basic.css
+++ b/docs/_static/basic.css
@@ -4,7 +4,7 @@
*
* Sphinx stylesheet -- basic theme.
*
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
@@ -222,7 +222,7 @@ table.modindextable td {
/* -- general body styles --------------------------------------------------- */
div.body {
- min-width: 360px;
+ min-width: 450px;
max-width: 800px;
}
@@ -237,6 +237,16 @@ a.headerlink {
visibility: hidden;
}
+a.brackets:before,
+span.brackets > a:before{
+ content: "[";
+}
+
+a.brackets:after,
+span.brackets > a:after {
+ content: "]";
+}
+
h1:hover > a.headerlink,
h2:hover > a.headerlink,
h3:hover > a.headerlink,
@@ -325,16 +335,12 @@ p.sidebar-title {
font-weight: bold;
}
-nav.contents,
-aside.topic,
div.admonition, div.topic, blockquote {
clear: left;
}
/* -- topics ---------------------------------------------------------------- */
-nav.contents,
-aside.topic,
div.topic {
border: 1px solid #ccc;
padding: 7px;
@@ -373,8 +379,6 @@ div.body p.centered {
div.sidebar > :last-child,
aside.sidebar > :last-child,
-nav.contents > :last-child,
-aside.topic > :last-child,
div.topic > :last-child,
div.admonition > :last-child {
margin-bottom: 0;
@@ -382,8 +386,6 @@ div.admonition > :last-child {
div.sidebar::after,
aside.sidebar::after,
-nav.contents::after,
-aside.topic::after,
div.topic::after,
div.admonition::after,
blockquote::after {
@@ -426,6 +428,10 @@ table.docutils td, table.docutils th {
border-bottom: 1px solid #aaa;
}
+table.footnote td, table.footnote th {
+ border: 0 !important;
+}
+
th {
text-align: left;
padding-right: 5px;
@@ -609,26 +615,19 @@ ul.simple p {
margin-bottom: 0;
}
-aside.footnote > span,
-div.citation > span {
+dl.footnote > dt,
+dl.citation > dt {
float: left;
+ margin-right: 0.5em;
}
-aside.footnote > span:last-of-type,
-div.citation > span:last-of-type {
- padding-right: 0.5em;
-}
-aside.footnote > p {
- margin-left: 2em;
-}
-div.citation > p {
- margin-left: 4em;
-}
-aside.footnote > p:last-of-type,
-div.citation > p:last-of-type {
+
+dl.footnote > dd,
+dl.citation > dd {
margin-bottom: 0em;
}
-aside.footnote > p:last-of-type:after,
-div.citation > p:last-of-type:after {
+
+dl.footnote > dd:after,
+dl.citation > dd:after {
content: "";
clear: both;
}
@@ -645,6 +644,10 @@ dl.field-list > dt {
padding-right: 5px;
}
+dl.field-list > dt:after {
+ content: ":";
+}
+
dl.field-list > dd {
padding-left: 0.5em;
margin-top: 0em;
diff --git a/docs/_static/doctools.js b/docs/_static/doctools.js
index d06a71d..e509e48 100644
--- a/docs/_static/doctools.js
+++ b/docs/_static/doctools.js
@@ -2,155 +2,325 @@
* doctools.js
* ~~~~~~~~~~~
*
- * Base JavaScript utilities for all Sphinx HTML documentation.
+ * Sphinx JavaScript utilities for all documentation.
*
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
-"use strict";
-
-const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
- "TEXTAREA",
- "INPUT",
- "SELECT",
- "BUTTON",
-]);
-
-const _ready = (callback) => {
- if (document.readyState !== "loading") {
- callback();
- } else {
- document.addEventListener("DOMContentLoaded", callback);
+
+/**
+ * select a different prefix for underscore
+ */
+$u = _.noConflict();
+
+/**
+ * make the code below compatible with browsers without
+ * an installed firebug like debugger
+if (!window.console || !console.firebug) {
+ var names = ["log", "debug", "info", "warn", "error", "assert", "dir",
+ "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace",
+ "profile", "profileEnd"];
+ window.console = {};
+ for (var i = 0; i < names.length; ++i)
+ window.console[names[i]] = function() {};
+}
+ */
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+ if (!x) {
+ return x
+ }
+ return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+ if (typeof s === 'undefined')
+ s = document.location.search;
+ var parts = s.substr(s.indexOf('?') + 1).split('&');
+ var result = {};
+ for (var i = 0; i < parts.length; i++) {
+ var tmp = parts[i].split('=', 2);
+ var key = jQuery.urldecode(tmp[0]);
+ var value = jQuery.urldecode(tmp[1]);
+ if (key in result)
+ result[key].push(value);
+ else
+ result[key] = [value];
}
+ return result;
};
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+ function highlight(node, addItems) {
+ if (node.nodeType === 3) {
+ var val = node.nodeValue;
+ var pos = val.toLowerCase().indexOf(text);
+ if (pos >= 0 &&
+ !jQuery(node.parentNode).hasClass(className) &&
+ !jQuery(node.parentNode).hasClass("nohighlight")) {
+ var span;
+ var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+ if (isInSVG) {
+ span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+ } else {
+ span = document.createElement("span");
+ span.className = className;
+ }
+ span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+ node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+ document.createTextNode(val.substr(pos + text.length)),
+ node.nextSibling));
+ node.nodeValue = val.substr(0, pos);
+ if (isInSVG) {
+ var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+ var bbox = node.parentElement.getBBox();
+ rect.x.baseVal.value = bbox.x;
+ rect.y.baseVal.value = bbox.y;
+ rect.width.baseVal.value = bbox.width;
+ rect.height.baseVal.value = bbox.height;
+ rect.setAttribute('class', className);
+ addItems.push({
+ "parent": node.parentNode,
+ "target": rect});
+ }
+ }
+ }
+ else if (!jQuery(node).is("button, select, textarea")) {
+ jQuery.each(node.childNodes, function() {
+ highlight(this, addItems);
+ });
+ }
+ }
+ var addItems = [];
+ var result = this.each(function() {
+ highlight(this, addItems);
+ });
+ for (var i = 0; i < addItems.length; ++i) {
+ jQuery(addItems[i].parent).before(addItems[i].target);
+ }
+ return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+ jQuery.uaMatch = function(ua) {
+ ua = ua.toLowerCase();
+
+ var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+ /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+ /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+ /(msie) ([\w.]+)/.exec(ua) ||
+ ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+ [];
+
+ return {
+ browser: match[ 1 ] || "",
+ version: match[ 2 ] || "0"
+ };
+ };
+ jQuery.browser = {};
+ jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}
+
/**
* Small JavaScript module for the documentation.
*/
-const Documentation = {
- init: () => {
- Documentation.initDomainIndexTable();
- Documentation.initOnKeyListeners();
+var Documentation = {
+
+ init : function() {
+ this.fixFirefoxAnchorBug();
+ this.highlightSearchWords();
+ this.initIndexTable();
+ if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) {
+ this.initOnKeyListeners();
+ }
},
/**
* i18n support
*/
- TRANSLATIONS: {},
- PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
- LOCALE: "unknown",
+ TRANSLATIONS : {},
+ PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; },
+ LOCALE : 'unknown',
// gettext and ngettext don't access this so that the functions
// can safely bound to a different name (_ = Documentation.gettext)
- gettext: (string) => {
- const translated = Documentation.TRANSLATIONS[string];
- switch (typeof translated) {
- case "undefined":
- return string; // no translation
- case "string":
- return translated; // translation exists
- default:
- return translated[0]; // (singular, plural) translation tuple exists
- }
+ gettext : function(string) {
+ var translated = Documentation.TRANSLATIONS[string];
+ if (typeof translated === 'undefined')
+ return string;
+ return (typeof translated === 'string') ? translated : translated[0];
},
- ngettext: (singular, plural, n) => {
- const translated = Documentation.TRANSLATIONS[singular];
- if (typeof translated !== "undefined")
- return translated[Documentation.PLURAL_EXPR(n)];
- return n === 1 ? singular : plural;
+ ngettext : function(singular, plural, n) {
+ var translated = Documentation.TRANSLATIONS[singular];
+ if (typeof translated === 'undefined')
+ return (n == 1) ? singular : plural;
+ return translated[Documentation.PLURALEXPR(n)];
},
- addTranslations: (catalog) => {
- Object.assign(Documentation.TRANSLATIONS, catalog.messages);
- Documentation.PLURAL_EXPR = new Function(
- "n",
- `return (${catalog.plural_expr})`
- );
- Documentation.LOCALE = catalog.locale;
+ addTranslations : function(catalog) {
+ for (var key in catalog.messages)
+ this.TRANSLATIONS[key] = catalog.messages[key];
+ this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')');
+ this.LOCALE = catalog.locale;
},
/**
- * helper function to focus on search bar
+ * add context elements like header anchor links
*/
- focusSearchBar: () => {
- document.querySelectorAll("input[name=q]")[0]?.focus();
+ addContextElements : function() {
+ $('div[id] > :header:first').each(function() {
+ $('\u00B6').
+ attr('href', '#' + this.id).
+ attr('title', _('Permalink to this headline')).
+ appendTo(this);
+ });
+ $('dt[id]').each(function() {
+ $('\u00B6').
+ attr('href', '#' + this.id).
+ attr('title', _('Permalink to this definition')).
+ appendTo(this);
+ });
},
/**
- * Initialise the domain index toggle buttons
+ * workaround a firefox stupidity
+ * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075
*/
- initDomainIndexTable: () => {
- const toggler = (el) => {
- const idNumber = el.id.substr(7);
- const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
- if (el.src.substr(-9) === "minus.png") {
- el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
- toggledRows.forEach((el) => (el.style.display = "none"));
- } else {
- el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
- toggledRows.forEach((el) => (el.style.display = ""));
+ fixFirefoxAnchorBug : function() {
+ if (document.location.hash && $.browser.mozilla)
+ window.setTimeout(function() {
+ document.location.href += '';
+ }, 10);
+ },
+
+ /**
+ * highlight the search words provided in the url in the text
+ */
+ highlightSearchWords : function() {
+ var params = $.getQueryParameters();
+ var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : [];
+ if (terms.length) {
+ var body = $('div.body');
+ if (!body.length) {
+ body = $('body');
}
- };
+ window.setTimeout(function() {
+ $.each(terms, function() {
+ body.highlightText(this.toLowerCase(), 'highlighted');
+ });
+ }, 10);
+ $('' + _('Hide Search Matches') + '
')
+ .appendTo($('#searchbox'));
+ }
+ },
+
+ /**
+ * init the domain index toggle buttons
+ */
+ initIndexTable : function() {
+ var togglers = $('img.toggler').click(function() {
+ var src = $(this).attr('src');
+ var idnum = $(this).attr('id').substr(7);
+ $('tr.cg-' + idnum).toggle();
+ if (src.substr(-9) === 'minus.png')
+ $(this).attr('src', src.substr(0, src.length-9) + 'plus.png');
+ else
+ $(this).attr('src', src.substr(0, src.length-8) + 'minus.png');
+ }).css('display', '');
+ if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) {
+ togglers.click();
+ }
+ },
- const togglerElements = document.querySelectorAll("img.toggler");
- togglerElements.forEach((el) =>
- el.addEventListener("click", (event) => toggler(event.currentTarget))
- );
- togglerElements.forEach((el) => (el.style.display = ""));
- if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+ /**
+ * helper function to hide the search marks again
+ */
+ hideSearchWords : function() {
+ $('#searchbox .highlight-link').fadeOut(300);
+ $('span.highlighted').removeClass('highlighted');
+ var url = new URL(window.location);
+ url.searchParams.delete('highlight');
+ window.history.replaceState({}, '', url);
},
- initOnKeyListeners: () => {
- // only install a listener if it is really needed
- if (
- !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
- !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
- )
- return;
-
- document.addEventListener("keydown", (event) => {
- // bail for input elements
- if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
- // bail with special keys
- if (event.altKey || event.ctrlKey || event.metaKey) return;
-
- if (!event.shiftKey) {
- switch (event.key) {
- case "ArrowLeft":
- if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
-
- const prevLink = document.querySelector('link[rel="prev"]');
- if (prevLink && prevLink.href) {
- window.location.href = prevLink.href;
- event.preventDefault();
+ /**
+ * make the url absolute
+ */
+ makeURL : function(relativeURL) {
+ return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL;
+ },
+
+ /**
+ * get the current relative url
+ */
+ getCurrentURL : function() {
+ var path = document.location.pathname;
+ var parts = path.split(/\//);
+ $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() {
+ if (this === '..')
+ parts.pop();
+ });
+ var url = parts.join('/');
+ return path.substring(url.lastIndexOf('/') + 1, path.length - 1);
+ },
+
+ initOnKeyListeners: function() {
+ $(document).keydown(function(event) {
+ var activeElementType = document.activeElement.tagName;
+ // don't navigate when in search box, textarea, dropdown or button
+ if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT'
+ && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey
+ && !event.shiftKey) {
+ switch (event.keyCode) {
+ case 37: // left
+ var prevHref = $('link[rel="prev"]').prop('href');
+ if (prevHref) {
+ window.location.href = prevHref;
+ return false;
}
break;
- case "ArrowRight":
- if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
-
- const nextLink = document.querySelector('link[rel="next"]');
- if (nextLink && nextLink.href) {
- window.location.href = nextLink.href;
- event.preventDefault();
+ case 39: // right
+ var nextHref = $('link[rel="next"]').prop('href');
+ if (nextHref) {
+ window.location.href = nextHref;
+ return false;
}
break;
}
}
-
- // some keyboard layouts may need Shift to get /
- switch (event.key) {
- case "/":
- if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
- Documentation.focusSearchBar();
- event.preventDefault();
- }
});
- },
+ }
};
// quick alias for translations
-const _ = Documentation.gettext;
+_ = Documentation.gettext;
-_ready(Documentation.init);
+$(document).ready(function() {
+ Documentation.init();
+});
diff --git a/docs/_static/documentation_options.js b/docs/_static/documentation_options.js
index 2db8a09..deb6527 100644
--- a/docs/_static/documentation_options.js
+++ b/docs/_static/documentation_options.js
@@ -1,14 +1,12 @@
var DOCUMENTATION_OPTIONS = {
URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
VERSION: '1',
- LANGUAGE: 'en',
+ LANGUAGE: 'None',
COLLAPSE_INDEX: false,
BUILDER: 'html',
FILE_SUFFIX: '.html',
LINK_SUFFIX: '.html',
HAS_SOURCE: true,
SOURCELINK_SUFFIX: '.txt',
- NAVIGATION_WITH_KEYS: false,
- SHOW_SEARCH_SUMMARY: true,
- ENABLE_SEARCH_SHORTCUTS: true,
+ NAVIGATION_WITH_KEYS: false
};
\ No newline at end of file
diff --git a/docs/_static/language_data.js b/docs/_static/language_data.js
index 250f566..ebe2f03 100644
--- a/docs/_static/language_data.js
+++ b/docs/_static/language_data.js
@@ -5,12 +5,12 @@
* This script contains the language-specific data used by searchtools.js,
* namely the list of stopwords, stemmer, scorer and splitter.
*
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
-var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
/* Non-minified version is copied as a separate JS file, is available */
@@ -197,3 +197,101 @@ var Stemmer = function() {
}
}
+
+
+
+var splitChars = (function() {
+ var result = {};
+ var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,
+ 1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702,
+ 2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971,
+ 2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345,
+ 3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761,
+ 3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823,
+ 4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125,
+ 8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695,
+ 11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587,
+ 43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141];
+ var i, j, start, end;
+ for (i = 0; i < singles.length; i++) {
+ result[singles[i]] = true;
+ }
+ var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709],
+ [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161],
+ [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568],
+ [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807],
+ [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047],
+ [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383],
+ [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450],
+ [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547],
+ [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673],
+ [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820],
+ [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946],
+ [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023],
+ [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173],
+ [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332],
+ [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481],
+ [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718],
+ [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791],
+ [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095],
+ [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205],
+ [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687],
+ [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968],
+ [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869],
+ [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102],
+ [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271],
+ [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592],
+ [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822],
+ [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167],
+ [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959],
+ [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143],
+ [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318],
+ [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483],
+ [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101],
+ [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567],
+ [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292],
+ [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444],
+ [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783],
+ [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311],
+ [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511],
+ [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774],
+ [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071],
+ [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263],
+ [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519],
+ [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647],
+ [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967],
+ [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295],
+ [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274],
+ [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007],
+ [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381],
+ [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]];
+ for (i = 0; i < ranges.length; i++) {
+ start = ranges[i][0];
+ end = ranges[i][1];
+ for (j = start; j <= end; j++) {
+ result[j] = true;
+ }
+ }
+ return result;
+})();
+
+function splitQuery(query) {
+ var result = [];
+ var start = -1;
+ for (var i = 0; i < query.length; i++) {
+ if (splitChars[query.charCodeAt(i)]) {
+ if (start !== -1) {
+ result.push(query.slice(start, i));
+ start = -1;
+ }
+ } else if (start === -1) {
+ start = i;
+ }
+ }
+ if (start !== -1) {
+ result.push(query.slice(start));
+ }
+ return result;
+}
+
+
diff --git a/docs/_static/nature.css b/docs/_static/nature.css
index 0307a02..beb3a60 100644
--- a/docs/_static/nature.css
+++ b/docs/_static/nature.css
@@ -4,7 +4,7 @@
*
* Sphinx stylesheet -- nature theme.
*
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
@@ -194,8 +194,6 @@ div.seealso {
border: 1px solid #ff6;
}
-nav.contents,
-aside.topic,
div.topic {
background-color: #eee;
}
diff --git a/docs/_static/pygments.css b/docs/_static/pygments.css
index f227e5c..894becd 100644
--- a/docs/_static/pygments.css
+++ b/docs/_static/pygments.css
@@ -1,8 +1,8 @@
-pre { line-height: 125%; }
-td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
-span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
-td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
-span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+pre { line-height: 125%; margin: 0; }
+td.linenos pre { color: #000000; background-color: #f0f0f0; padding: 0 5px 0 5px; }
+span.linenos { color: #000000; background-color: #f0f0f0; padding: 0 5px 0 5px; }
+td.linenos pre.special { color: #000000; background-color: #ffffc0; padding: 0 5px 0 5px; }
+span.linenos.special { color: #000000; background-color: #ffffc0; padding: 0 5px 0 5px; }
.highlight .hll { background-color: #ffffcc }
.highlight { background: #f8f8f8; }
.highlight .c { color: #8f5902; font-style: italic } /* Comment */
@@ -54,8 +54,7 @@ span.linenos.special { color: #000000; background-color: #ffffc0; padding-left:
.highlight .nt { color: #204a87; font-weight: bold } /* Name.Tag */
.highlight .nv { color: #000000 } /* Name.Variable */
.highlight .ow { color: #204a87; font-weight: bold } /* Operator.Word */
-.highlight .pm { color: #000000; font-weight: bold } /* Punctuation.Marker */
-.highlight .w { color: #f8f8f8 } /* Text.Whitespace */
+.highlight .w { color: #f8f8f8; text-decoration: underline } /* Text.Whitespace */
.highlight .mb { color: #0000cf; font-weight: bold } /* Literal.Number.Bin */
.highlight .mf { color: #0000cf; font-weight: bold } /* Literal.Number.Float */
.highlight .mh { color: #0000cf; font-weight: bold } /* Literal.Number.Hex */
diff --git a/docs/_static/searchtools.js b/docs/_static/searchtools.js
index 97d56a7..2d77859 100644
--- a/docs/_static/searchtools.js
+++ b/docs/_static/searchtools.js
@@ -4,24 +4,22 @@
*
* Sphinx JavaScript utilities for the full-text search.
*
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS.
* :license: BSD, see LICENSE for details.
*
*/
-"use strict";
-/**
- * Simple result scoring code.
- */
-if (typeof Scorer === "undefined") {
+if (!Scorer) {
+ /**
+ * Simple result scoring code.
+ */
var Scorer = {
// Implement the following function to further tweak the score for each result
- // The function takes a result array [docname, title, anchor, descr, score, filename]
+ // The function takes a result array [filename, title, anchor, descr, score]
// and returns the new score.
/*
- score: result => {
- const [docname, title, anchor, descr, score, filename] = result
- return score
+ score: function(result) {
+ return result[4];
},
*/
@@ -30,11 +28,9 @@ if (typeof Scorer === "undefined") {
// or matches in the last dotted part of the object name
objPartialMatch: 6,
// Additive scores depending on the priority of the object
- objPrio: {
- 0: 15, // used to be importantResults
- 1: 5, // used to be objectResults
- 2: -5, // used to be unimportantResults
- },
+ objPrio: {0: 15, // used to be importantResults
+ 1: 5, // used to be objectResults
+ 2: -5}, // used to be unimportantResults
// Used when the priority is not in the mapping.
objPrioDefault: 0,
@@ -43,495 +39,456 @@ if (typeof Scorer === "undefined") {
partialTitle: 7,
// query found in terms
term: 5,
- partialTerm: 2,
+ partialTerm: 2
};
}
-const _removeChildren = (element) => {
- while (element && element.lastChild) element.removeChild(element.lastChild);
-};
-
-/**
- * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
- */
-const _escapeRegExp = (string) =>
- string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
-
-const _displayItem = (item, searchTerms) => {
- const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
- const docUrlRoot = DOCUMENTATION_OPTIONS.URL_ROOT;
- const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
- const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
- const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
-
- const [docName, title, anchor, descr, score, _filename] = item;
-
- let listItem = document.createElement("li");
- let requestUrl;
- let linkUrl;
- if (docBuilder === "dirhtml") {
- // dirhtml builder
- let dirname = docName + "/";
- if (dirname.match(/\/index\/$/))
- dirname = dirname.substring(0, dirname.length - 6);
- else if (dirname === "index/") dirname = "";
- requestUrl = docUrlRoot + dirname;
- linkUrl = requestUrl;
- } else {
- // normal html builders
- requestUrl = docUrlRoot + docName + docFileSuffix;
- linkUrl = docName + docLinkSuffix;
+if (!splitQuery) {
+ function splitQuery(query) {
+ return query.split(/\s+/);
}
- let linkEl = listItem.appendChild(document.createElement("a"));
- linkEl.href = linkUrl + anchor;
- linkEl.dataset.score = score;
- linkEl.innerHTML = title;
- if (descr)
- listItem.appendChild(document.createElement("span")).innerHTML =
- " (" + descr + ")";
- else if (showSearchSummary)
- fetch(requestUrl)
- .then((responseData) => responseData.text())
- .then((data) => {
- if (data)
- listItem.appendChild(
- Search.makeSearchSummary(data, searchTerms)
- );
- });
- Search.output.appendChild(listItem);
-};
-const _finishSearch = (resultCount) => {
- Search.stopPulse();
- Search.title.innerText = _("Search Results");
- if (!resultCount)
- Search.status.innerText = Documentation.gettext(
- "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
- );
- else
- Search.status.innerText = _(
- `Search finished, found ${resultCount} page(s) matching the search query.`
- );
-};
-const _displayNextItem = (
- results,
- resultCount,
- searchTerms
-) => {
- // results left, load the summary and display it
- // this is intended to be dynamic (don't sub resultsCount)
- if (results.length) {
- _displayItem(results.pop(), searchTerms);
- setTimeout(
- () => _displayNextItem(results, resultCount, searchTerms),
- 5
- );
- }
- // search finished, update title and status message
- else _finishSearch(resultCount);
-};
-
-/**
- * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
- * custom function per language.
- *
- * The regular expression works by splitting the string on consecutive characters
- * that are not Unicode letters, numbers, underscores, or emoji characters.
- * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
- */
-if (typeof splitQuery === "undefined") {
- var splitQuery = (query) => query
- .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
- .filter(term => term) // remove remaining empty strings
}
/**
* Search Module
*/
-const Search = {
- _index: null,
- _queued_query: null,
- _pulse_status: -1,
-
- htmlToText: (htmlString) => {
- const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
- htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
- const docContent = htmlElement.querySelector('[role="main"]');
- if (docContent !== undefined) return docContent.textContent;
- console.warn(
- "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
- );
- return "";
+var Search = {
+
+ _index : null,
+ _queued_query : null,
+ _pulse_status : -1,
+
+ htmlToText : function(htmlString) {
+ var virtualDocument = document.implementation.createHTMLDocument('virtual');
+ var htmlElement = $(htmlString, virtualDocument);
+ htmlElement.find('.headerlink').remove();
+ docContent = htmlElement.find('[role=main]')[0];
+ if(docContent === undefined) {
+ console.warn("Content block not found. Sphinx search tries to obtain it " +
+ "via '[role=main]'. Could you check your theme or template.");
+ return "";
+ }
+ return docContent.textContent || docContent.innerText;
},
- init: () => {
- const query = new URLSearchParams(window.location.search).get("q");
- document
- .querySelectorAll('input[name="q"]')
- .forEach((el) => (el.value = query));
- if (query) Search.performSearch(query);
+ init : function() {
+ var params = $.getQueryParameters();
+ if (params.q) {
+ var query = params.q[0];
+ $('input[name="q"]')[0].value = query;
+ this.performSearch(query);
+ }
},
- loadIndex: (url) =>
- (document.body.appendChild(document.createElement("script")).src = url),
+ loadIndex : function(url) {
+ $.ajax({type: "GET", url: url, data: null,
+ dataType: "script", cache: true,
+ complete: function(jqxhr, textstatus) {
+ if (textstatus != "success") {
+ document.getElementById("searchindexloader").src = url;
+ }
+ }});
+ },
- setIndex: (index) => {
- Search._index = index;
- if (Search._queued_query !== null) {
- const query = Search._queued_query;
- Search._queued_query = null;
- Search.query(query);
+ setIndex : function(index) {
+ var q;
+ this._index = index;
+ if ((q = this._queued_query) !== null) {
+ this._queued_query = null;
+ Search.query(q);
}
},
- hasIndex: () => Search._index !== null,
-
- deferQuery: (query) => (Search._queued_query = query),
+ hasIndex : function() {
+ return this._index !== null;
+ },
- stopPulse: () => (Search._pulse_status = -1),
+ deferQuery : function(query) {
+ this._queued_query = query;
+ },
- startPulse: () => {
- if (Search._pulse_status >= 0) return;
+ stopPulse : function() {
+ this._pulse_status = 0;
+ },
- const pulse = () => {
+ startPulse : function() {
+ if (this._pulse_status >= 0)
+ return;
+ function pulse() {
+ var i;
Search._pulse_status = (Search._pulse_status + 1) % 4;
- Search.dots.innerText = ".".repeat(Search._pulse_status);
- if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
- };
+ var dotString = '';
+ for (i = 0; i < Search._pulse_status; i++)
+ dotString += '.';
+ Search.dots.text(dotString);
+ if (Search._pulse_status > -1)
+ window.setTimeout(pulse, 500);
+ }
pulse();
},
/**
* perform a search for something (or wait until index is loaded)
*/
- performSearch: (query) => {
+ performSearch : function(query) {
// create the required interface elements
- const searchText = document.createElement("h2");
- searchText.textContent = _("Searching");
- const searchSummary = document.createElement("p");
- searchSummary.classList.add("search-summary");
- searchSummary.innerText = "";
- const searchList = document.createElement("ul");
- searchList.classList.add("search");
-
- const out = document.getElementById("search-results");
- Search.title = out.appendChild(searchText);
- Search.dots = Search.title.appendChild(document.createElement("span"));
- Search.status = out.appendChild(searchSummary);
- Search.output = out.appendChild(searchList);
-
- const searchProgress = document.getElementById("search-progress");
- // Some themes don't use the search progress node
- if (searchProgress) {
- searchProgress.innerText = _("Preparing search...");
- }
- Search.startPulse();
+ this.out = $('#search-results');
+ this.title = $('' + _('Searching') + '
').appendTo(this.out);
+ this.dots = $('').appendTo(this.title);
+ this.status = $('
').appendTo(this.out);
+ this.output = $('
').appendTo(this.out);
+
+ $('#search-progress').text(_('Preparing search...'));
+ this.startPulse();
// index already loaded, the browser was quick!
- if (Search.hasIndex()) Search.query(query);
- else Search.deferQuery(query);
+ if (this.hasIndex())
+ this.query(query);
+ else
+ this.deferQuery(query);
},
/**
* execute search (requires search index to be loaded)
*/
- query: (query) => {
- const filenames = Search._index.filenames;
- const docNames = Search._index.docnames;
- const titles = Search._index.titles;
- const allTitles = Search._index.alltitles;
- const indexEntries = Search._index.indexentries;
-
- // stem the search terms and add them to the correct list
- const stemmer = new Stemmer();
- const searchTerms = new Set();
- const excludedTerms = new Set();
- const highlightTerms = new Set();
- const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
- splitQuery(query.trim()).forEach((queryTerm) => {
- const queryTermLower = queryTerm.toLowerCase();
-
- // maybe skip this "word"
- // stopwords array is from language_data.js
- if (
- stopwords.indexOf(queryTermLower) !== -1 ||
- queryTerm.match(/^\d+$/)
- )
- return;
+ query : function(query) {
+ var i;
+
+ // stem the searchterms and add them to the correct list
+ var stemmer = new Stemmer();
+ var searchterms = [];
+ var excluded = [];
+ var hlterms = [];
+ var tmp = splitQuery(query);
+ var objectterms = [];
+ for (i = 0; i < tmp.length; i++) {
+ if (tmp[i] !== "") {
+ objectterms.push(tmp[i].toLowerCase());
+ }
+ if ($u.indexOf(stopwords, tmp[i].toLowerCase()) != -1 || tmp[i] === "") {
+ // skip this "word"
+ continue;
+ }
// stem the word
- let word = stemmer.stemWord(queryTermLower);
+ var word = stemmer.stemWord(tmp[i].toLowerCase());
+ // prevent stemmer from cutting word smaller than two chars
+ if(word.length < 3 && tmp[i].length >= 3) {
+ word = tmp[i];
+ }
+ var toAppend;
// select the correct list
- if (word[0] === "-") excludedTerms.add(word.substr(1));
+ if (word[0] == '-') {
+ toAppend = excluded;
+ word = word.substr(1);
+ }
else {
- searchTerms.add(word);
- highlightTerms.add(queryTermLower);
+ toAppend = searchterms;
+ hlterms.push(tmp[i].toLowerCase());
}
- });
-
- if (SPHINX_HIGHLIGHT_ENABLED) { // set in sphinx_highlight.js
- localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+ // only add if not already in the list
+ if (!$u.contains(toAppend, word))
+ toAppend.push(word);
}
+ var highlightstring = '?highlight=' + $.urlencode(hlterms.join(" "));
- // console.debug("SEARCH: searching for:");
- // console.info("required: ", [...searchTerms]);
- // console.info("excluded: ", [...excludedTerms]);
-
- // array of [docname, title, anchor, descr, score, filename]
- let results = [];
- _removeChildren(document.getElementById("search-progress"));
-
- const queryLower = query.toLowerCase();
- for (const [title, foundTitles] of Object.entries(allTitles)) {
- if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
- for (const [file, id] of foundTitles) {
- let score = Math.round(100 * queryLower.length / title.length)
- results.push([
- docNames[file],
- titles[file] !== title ? `${titles[file]} > ${title}` : title,
- id !== null ? "#" + id : "",
- null,
- score,
- filenames[file],
- ]);
- }
- }
- }
+ // console.debug('SEARCH: searching for:');
+ // console.info('required: ', searchterms);
+ // console.info('excluded: ', excluded);
- // search for explicit entries in index directives
- for (const [entry, foundEntries] of Object.entries(indexEntries)) {
- if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
- for (const [file, id] of foundEntries) {
- let score = Math.round(100 * queryLower.length / entry.length)
- results.push([
- docNames[file],
- titles[file],
- id ? "#" + id : "",
- null,
- score,
- filenames[file],
- ]);
- }
- }
- }
+ // prepare search
+ var terms = this._index.terms;
+ var titleterms = this._index.titleterms;
+
+ // array of [filename, title, anchor, descr, score]
+ var results = [];
+ $('#search-progress').empty();
// lookup as object
- objectTerms.forEach((term) =>
- results.push(...Search.performObjectSearch(term, objectTerms))
- );
+ for (i = 0; i < objectterms.length; i++) {
+ var others = [].concat(objectterms.slice(0, i),
+ objectterms.slice(i+1, objectterms.length));
+ results = results.concat(this.performObjectSearch(objectterms[i], others));
+ }
// lookup as search terms in fulltext
- results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+ results = results.concat(this.performTermsSearch(searchterms, excluded, terms, titleterms));
// let the scorer override scores with a custom scoring function
- if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
+ if (Scorer.score) {
+ for (i = 0; i < results.length; i++)
+ results[i][4] = Scorer.score(results[i]);
+ }
// now sort the results by score (in opposite order of appearance, since the
// display function below uses pop() to retrieve items) and then
// alphabetically
- results.sort((a, b) => {
- const leftScore = a[4];
- const rightScore = b[4];
- if (leftScore === rightScore) {
+ results.sort(function(a, b) {
+ var left = a[4];
+ var right = b[4];
+ if (left > right) {
+ return 1;
+ } else if (left < right) {
+ return -1;
+ } else {
// same score: sort alphabetically
- const leftTitle = a[1].toLowerCase();
- const rightTitle = b[1].toLowerCase();
- if (leftTitle === rightTitle) return 0;
- return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+ left = a[1].toLowerCase();
+ right = b[1].toLowerCase();
+ return (left > right) ? -1 : ((left < right) ? 1 : 0);
}
- return leftScore > rightScore ? 1 : -1;
});
- // remove duplicate search results
- // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
- let seen = new Set();
- results = results.reverse().reduce((acc, result) => {
- let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
- if (!seen.has(resultStr)) {
- acc.push(result);
- seen.add(resultStr);
- }
- return acc;
- }, []);
-
- results = results.reverse();
-
// for debugging
//Search.lastresults = results.slice(); // a copy
- // console.info("search results:", Search.lastresults);
+ //console.info('search results:', Search.lastresults);
// print the results
- _displayNextItem(results, results.length, searchTerms);
+ var resultCount = results.length;
+ function displayNextItem() {
+ // results left, load the summary and display it
+ if (results.length) {
+ var item = results.pop();
+ var listItem = $('');
+ var requestUrl = "";
+ var linkUrl = "";
+ if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') {
+ // dirhtml builder
+ var dirname = item[0] + '/';
+ if (dirname.match(/\/index\/$/)) {
+ dirname = dirname.substring(0, dirname.length-6);
+ } else if (dirname == 'index/') {
+ dirname = '';
+ }
+ requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + dirname;
+ linkUrl = requestUrl;
+
+ } else {
+ // normal html builders
+ requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + item[0] + DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+ linkUrl = item[0] + DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+ }
+ listItem.append($('').attr('href',
+ linkUrl +
+ highlightstring + item[2]).html(item[1]));
+ if (item[3]) {
+ listItem.append($(' (' + item[3] + ')'));
+ Search.output.append(listItem);
+ setTimeout(function() {
+ displayNextItem();
+ }, 5);
+ } else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) {
+ $.ajax({url: requestUrl,
+ dataType: "text",
+ complete: function(jqxhr, textstatus) {
+ var data = jqxhr.responseText;
+ if (data !== '' && data !== undefined) {
+ var summary = Search.makeSearchSummary(data, searchterms, hlterms);
+ if (summary) {
+ listItem.append(summary);
+ }
+ }
+ Search.output.append(listItem);
+ setTimeout(function() {
+ displayNextItem();
+ }, 5);
+ }});
+ } else {
+ // no source available, just display title
+ Search.output.append(listItem);
+ setTimeout(function() {
+ displayNextItem();
+ }, 5);
+ }
+ }
+ // search finished, update title and status message
+ else {
+ Search.stopPulse();
+ Search.title.text(_('Search Results'));
+ if (!resultCount)
+ Search.status.text(_('Your search did not match any documents. Please make sure that all words are spelled correctly and that you\'ve selected enough categories.'));
+ else
+ Search.status.text(_('Search finished, found %s page(s) matching the search query.').replace('%s', resultCount));
+ Search.status.fadeIn(500);
+ }
+ }
+ displayNextItem();
},
/**
* search for object names
*/
- performObjectSearch: (object, objectTerms) => {
- const filenames = Search._index.filenames;
- const docNames = Search._index.docnames;
- const objects = Search._index.objects;
- const objNames = Search._index.objnames;
- const titles = Search._index.titles;
-
- const results = [];
-
- const objectSearchCallback = (prefix, match) => {
- const name = match[4]
- const fullname = (prefix ? prefix + "." : "") + name;
- const fullnameLower = fullname.toLowerCase();
- if (fullnameLower.indexOf(object) < 0) return;
-
- let score = 0;
- const parts = fullnameLower.split(".");
-
- // check for different match types: exact matches of full name or
- // "last name" (i.e. last dotted part)
- if (fullnameLower === object || parts.slice(-1)[0] === object)
- score += Scorer.objNameMatch;
- else if (parts.slice(-1)[0].indexOf(object) > -1)
- score += Scorer.objPartialMatch; // matches in last name
-
- const objName = objNames[match[1]][2];
- const title = titles[match[0]];
-
- // If more than one term searched for, we require other words to be
- // found in the name/title/description
- const otherTerms = new Set(objectTerms);
- otherTerms.delete(object);
- if (otherTerms.size > 0) {
- const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
- if (
- [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
- )
- return;
+ performObjectSearch : function(object, otherterms) {
+ var filenames = this._index.filenames;
+ var docnames = this._index.docnames;
+ var objects = this._index.objects;
+ var objnames = this._index.objnames;
+ var titles = this._index.titles;
+
+ var i;
+ var results = [];
+
+ for (var prefix in objects) {
+ for (var iMatch = 0; iMatch != objects[prefix].length; ++iMatch) {
+ var match = objects[prefix][iMatch];
+ var name = match[4];
+ var fullname = (prefix ? prefix + '.' : '') + name;
+ var fullnameLower = fullname.toLowerCase()
+ if (fullnameLower.indexOf(object) > -1) {
+ var score = 0;
+ var parts = fullnameLower.split('.');
+ // check for different match types: exact matches of full name or
+ // "last name" (i.e. last dotted part)
+ if (fullnameLower == object || parts[parts.length - 1] == object) {
+ score += Scorer.objNameMatch;
+ // matches in last name
+ } else if (parts[parts.length - 1].indexOf(object) > -1) {
+ score += Scorer.objPartialMatch;
+ }
+ var objname = objnames[match[1]][2];
+ var title = titles[match[0]];
+ // If more than one term searched for, we require other words to be
+ // found in the name/title/description
+ if (otherterms.length > 0) {
+ var haystack = (prefix + ' ' + name + ' ' +
+ objname + ' ' + title).toLowerCase();
+ var allfound = true;
+ for (i = 0; i < otherterms.length; i++) {
+ if (haystack.indexOf(otherterms[i]) == -1) {
+ allfound = false;
+ break;
+ }
+ }
+ if (!allfound) {
+ continue;
+ }
+ }
+ var descr = objname + _(', in ') + title;
+
+ var anchor = match[3];
+ if (anchor === '')
+ anchor = fullname;
+ else if (anchor == '-')
+ anchor = objnames[match[1]][1] + '-' + fullname;
+ // add custom score for some objects according to scorer
+ if (Scorer.objPrio.hasOwnProperty(match[2])) {
+ score += Scorer.objPrio[match[2]];
+ } else {
+ score += Scorer.objPrioDefault;
+ }
+ results.push([docnames[match[0]], fullname, '#'+anchor, descr, score, filenames[match[0]]]);
+ }
}
+ }
- let anchor = match[3];
- if (anchor === "") anchor = fullname;
- else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
-
- const descr = objName + _(", in ") + title;
-
- // add custom score for some objects according to scorer
- if (Scorer.objPrio.hasOwnProperty(match[2]))
- score += Scorer.objPrio[match[2]];
- else score += Scorer.objPrioDefault;
-
- results.push([
- docNames[match[0]],
- fullname,
- "#" + anchor,
- descr,
- score,
- filenames[match[0]],
- ]);
- };
- Object.keys(objects).forEach((prefix) =>
- objects[prefix].forEach((array) =>
- objectSearchCallback(prefix, array)
- )
- );
return results;
},
+ /**
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions
+ */
+ escapeRegExp : function(string) {
+ return string.replace(/[.*+\-?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+ },
+
/**
* search for full-text terms in the index
*/
- performTermsSearch: (searchTerms, excludedTerms) => {
- // prepare search
- const terms = Search._index.terms;
- const titleTerms = Search._index.titleterms;
- const filenames = Search._index.filenames;
- const docNames = Search._index.docnames;
- const titles = Search._index.titles;
+ performTermsSearch : function(searchterms, excluded, terms, titleterms) {
+ var docnames = this._index.docnames;
+ var filenames = this._index.filenames;
+ var titles = this._index.titles;
- const scoreMap = new Map();
- const fileMap = new Map();
+ var i, j, file;
+ var fileMap = {};
+ var scoreMap = {};
+ var results = [];
// perform the search on the required terms
- searchTerms.forEach((word) => {
- const files = [];
- const arr = [
- { files: terms[word], score: Scorer.term },
- { files: titleTerms[word], score: Scorer.title },
+ for (i = 0; i < searchterms.length; i++) {
+ var word = searchterms[i];
+ var files = [];
+ var _o = [
+ {files: terms[word], score: Scorer.term},
+ {files: titleterms[word], score: Scorer.title}
];
// add support for partial matches
if (word.length > 2) {
- const escapedWord = _escapeRegExp(word);
- Object.keys(terms).forEach((term) => {
- if (term.match(escapedWord) && !terms[word])
- arr.push({ files: terms[term], score: Scorer.partialTerm });
- });
- Object.keys(titleTerms).forEach((term) => {
- if (term.match(escapedWord) && !titleTerms[word])
- arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
- });
+ var word_regex = this.escapeRegExp(word);
+ for (var w in terms) {
+ if (w.match(word_regex) && !terms[word]) {
+ _o.push({files: terms[w], score: Scorer.partialTerm})
+ }
+ }
+ for (var w in titleterms) {
+ if (w.match(word_regex) && !titleterms[word]) {
+ _o.push({files: titleterms[w], score: Scorer.partialTitle})
+ }
+ }
}
// no match but word was a required one
- if (arr.every((record) => record.files === undefined)) return;
-
+ if ($u.every(_o, function(o){return o.files === undefined;})) {
+ break;
+ }
// found search word in contents
- arr.forEach((record) => {
- if (record.files === undefined) return;
-
- let recordFiles = record.files;
- if (recordFiles.length === undefined) recordFiles = [recordFiles];
- files.push(...recordFiles);
-
- // set score for the word in each file
- recordFiles.forEach((file) => {
- if (!scoreMap.has(file)) scoreMap.set(file, {});
- scoreMap.get(file)[word] = record.score;
- });
+ $u.each(_o, function(o) {
+ var _files = o.files;
+ if (_files === undefined)
+ return
+
+ if (_files.length === undefined)
+ _files = [_files];
+ files = files.concat(_files);
+
+ // set score for the word in each file to Scorer.term
+ for (j = 0; j < _files.length; j++) {
+ file = _files[j];
+ if (!(file in scoreMap))
+ scoreMap[file] = {};
+ scoreMap[file][word] = o.score;
+ }
});
// create the mapping
- files.forEach((file) => {
- if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
- fileMap.get(file).push(word);
- else fileMap.set(file, [word]);
- });
- });
+ for (j = 0; j < files.length; j++) {
+ file = files[j];
+ if (file in fileMap && fileMap[file].indexOf(word) === -1)
+ fileMap[file].push(word);
+ else
+ fileMap[file] = [word];
+ }
+ }
// now check if the files don't contain excluded terms
- const results = [];
- for (const [file, wordList] of fileMap) {
- // check if all requirements are matched
+ for (file in fileMap) {
+ var valid = true;
- // as search terms with length < 3 are discarded
- const filteredTermCount = [...searchTerms].filter(
- (term) => term.length > 2
- ).length;
+ // check if all requirements are matched
+ var filteredTermCount = // as search terms with length < 3 are discarded: ignore
+ searchterms.filter(function(term){return term.length > 2}).length
if (
- wordList.length !== searchTerms.size &&
- wordList.length !== filteredTermCount
- )
- continue;
+ fileMap[file].length != searchterms.length &&
+ fileMap[file].length != filteredTermCount
+ ) continue;
// ensure that none of the excluded terms is in the search result
- if (
- [...excludedTerms].some(
- (term) =>
- terms[term] === file ||
- titleTerms[term] === file ||
- (terms[term] || []).includes(file) ||
- (titleTerms[term] || []).includes(file)
- )
- )
- break;
+ for (i = 0; i < excluded.length; i++) {
+ if (terms[excluded[i]] == file ||
+ titleterms[excluded[i]] == file ||
+ $u.contains(terms[excluded[i]] || [], file) ||
+ $u.contains(titleterms[excluded[i]] || [], file)) {
+ valid = false;
+ break;
+ }
+ }
- // select one (max) score for the file.
- const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
- // add result to the result list
- results.push([
- docNames[file],
- titles[file],
- "",
- null,
- score,
- filenames[file],
- ]);
+ // if we have still a valid result we can add it to the result list
+ if (valid) {
+ // select one (max) score for the file.
+ // for better ranking, we should calculate ranking by using words statistics like basic tf-idf...
+ var score = $u.max($u.map(fileMap[file], function(w){return scoreMap[file][w]}));
+ results.push([docnames[file], titles[file], '', null, score, filenames[file]]);
+ }
}
return results;
},
@@ -539,28 +496,34 @@ const Search = {
/**
* helper function to return a node containing the
* search summary for a given text. keywords is a list
- * of stemmed words.
+ * of stemmed words, hlwords is the list of normal, unstemmed
+ * words. the first one is used to find the occurrence, the
+ * latter for highlighting it.
*/
- makeSearchSummary: (htmlText, keywords) => {
- const text = Search.htmlToText(htmlText);
- if (text === "") return null;
-
- const textLower = text.toLowerCase();
- const actualStartPosition = [...keywords]
- .map((k) => textLower.indexOf(k.toLowerCase()))
- .filter((i) => i > -1)
- .slice(-1)[0];
- const startWithContext = Math.max(actualStartPosition - 120, 0);
-
- const top = startWithContext === 0 ? "" : "...";
- const tail = startWithContext + 240 < text.length ? "..." : "";
-
- let summary = document.createElement("p");
- summary.classList.add("context");
- summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
-
- return summary;
- },
+ makeSearchSummary : function(htmlText, keywords, hlwords) {
+ var text = Search.htmlToText(htmlText);
+ if (text == "") {
+ return null;
+ }
+ var textLower = text.toLowerCase();
+ var start = 0;
+ $.each(keywords, function() {
+ var i = textLower.indexOf(this.toLowerCase());
+ if (i > -1)
+ start = i;
+ });
+ start = Math.max(start - 120, 0);
+ var excerpt = ((start > 0) ? '...' : '') +
+ $.trim(text.substr(start, 240)) +
+ ((start + 240 - text.length) ? '...' : '');
+ var rv = $('').text(excerpt);
+ $.each(hlwords, function() {
+ rv = rv.highlightText(this, 'highlighted');
+ });
+ return rv;
+ }
};
-_ready(Search.init);
+$(document).ready(function() {
+ Search.init();
+});
diff --git a/docs/_static/sphinx_highlight.js b/docs/_static/sphinx_highlight.js
deleted file mode 100644
index aae669d..0000000
--- a/docs/_static/sphinx_highlight.js
+++ /dev/null
@@ -1,144 +0,0 @@
-/* Highlighting utilities for Sphinx HTML documentation. */
-"use strict";
-
-const SPHINX_HIGHLIGHT_ENABLED = true
-
-/**
- * highlight a given string on a node by wrapping it in
- * span elements with the given class name.
- */
-const _highlight = (node, addItems, text, className) => {
- if (node.nodeType === Node.TEXT_NODE) {
- const val = node.nodeValue;
- const parent = node.parentNode;
- const pos = val.toLowerCase().indexOf(text);
- if (
- pos >= 0 &&
- !parent.classList.contains(className) &&
- !parent.classList.contains("nohighlight")
- ) {
- let span;
-
- const closestNode = parent.closest("body, svg, foreignObject");
- const isInSVG = closestNode && closestNode.matches("svg");
- if (isInSVG) {
- span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
- } else {
- span = document.createElement("span");
- span.classList.add(className);
- }
-
- span.appendChild(document.createTextNode(val.substr(pos, text.length)));
- parent.insertBefore(
- span,
- parent.insertBefore(
- document.createTextNode(val.substr(pos + text.length)),
- node.nextSibling
- )
- );
- node.nodeValue = val.substr(0, pos);
-
- if (isInSVG) {
- const rect = document.createElementNS(
- "http://www.w3.org/2000/svg",
- "rect"
- );
- const bbox = parent.getBBox();
- rect.x.baseVal.value = bbox.x;
- rect.y.baseVal.value = bbox.y;
- rect.width.baseVal.value = bbox.width;
- rect.height.baseVal.value = bbox.height;
- rect.setAttribute("class", className);
- addItems.push({ parent: parent, target: rect });
- }
- }
- } else if (node.matches && !node.matches("button, select, textarea")) {
- node.childNodes.forEach((el) => _highlight(el, addItems, text, className));
- }
-};
-const _highlightText = (thisNode, text, className) => {
- let addItems = [];
- _highlight(thisNode, addItems, text, className);
- addItems.forEach((obj) =>
- obj.parent.insertAdjacentElement("beforebegin", obj.target)
- );
-};
-
-/**
- * Small JavaScript module for the documentation.
- */
-const SphinxHighlight = {
-
- /**
- * highlight the search words provided in localstorage in the text
- */
- highlightSearchWords: () => {
- if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight
-
- // get and clear terms from localstorage
- const url = new URL(window.location);
- const highlight =
- localStorage.getItem("sphinx_highlight_terms")
- || url.searchParams.get("highlight")
- || "";
- localStorage.removeItem("sphinx_highlight_terms")
- url.searchParams.delete("highlight");
- window.history.replaceState({}, "", url);
-
- // get individual terms from highlight string
- const terms = highlight.toLowerCase().split(/\s+/).filter(x => x);
- if (terms.length === 0) return; // nothing to do
-
- // There should never be more than one element matching "div.body"
- const divBody = document.querySelectorAll("div.body");
- const body = divBody.length ? divBody[0] : document.querySelector("body");
- window.setTimeout(() => {
- terms.forEach((term) => _highlightText(body, term, "highlighted"));
- }, 10);
-
- const searchBox = document.getElementById("searchbox");
- if (searchBox === null) return;
- searchBox.appendChild(
- document
- .createRange()
- .createContextualFragment(
- '' +
- '' +
- _("Hide Search Matches") +
- "
"
- )
- );
- },
-
- /**
- * helper function to hide the search marks again
- */
- hideSearchWords: () => {
- document
- .querySelectorAll("#searchbox .highlight-link")
- .forEach((el) => el.remove());
- document
- .querySelectorAll("span.highlighted")
- .forEach((el) => el.classList.remove("highlighted"));
- localStorage.removeItem("sphinx_highlight_terms")
- },
-
- initEscapeListener: () => {
- // only install a listener if it is really needed
- if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return;
-
- document.addEventListener("keydown", (event) => {
- // bail for input elements
- if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
- // bail with special keys
- if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return;
- if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) {
- SphinxHighlight.hideSearchWords();
- event.preventDefault();
- }
- });
- },
-};
-
-_ready(SphinxHighlight.highlightSearchWords);
-_ready(SphinxHighlight.initEscapeListener);
diff --git a/docs/genindex.html b/docs/genindex.html
index e5737b7..e5e8f1a 100644
--- a/docs/genindex.html
+++ b/docs/genindex.html
@@ -1,7 +1,7 @@
-
+
@@ -10,9 +10,10 @@
+
+
-
-
+
@@ -446,7 +447,7 @@ Quick search
-
+
@@ -466,7 +467,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/index.html b/docs/index.html
index 9713d2d..c009e5f 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -1,19 +1,20 @@
-
+
-
+
Welcome to SimpleStereo’s documentation! — SimpleStereo 1 documentation
+
+
-
-
+
@@ -41,7 +42,7 @@ Navigation
-Welcome to SimpleStereo’s documentation!¶
+Welcome to SimpleStereo’s documentation!¶
Contents:
@@ -62,7 +63,7 @@ Welcome to SimpleStereo’s documentation!
-Indices and tables¶
+Indices and tables¶
Quick search
-
+
@@ -129,7 +130,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/modules.html b/docs/modules.html
index 3ad3157..e1703f0 100644
--- a/docs/modules.html
+++ b/docs/modules.html
@@ -1,19 +1,20 @@
-
+
-
+
package — SimpleStereo 1 documentation
+
+
-
-
+
@@ -37,7 +38,7 @@ Navigation
-package¶
+package¶
- simplestereo package
@@ -48,122 +49,26 @@ packageSubmodules
- simplestereo._rigs module
- _rigs
-RectifiedStereoRig
-RectifiedStereoRig.RcommonRectifiedStereoRig.computeRectificationMaps()RectifiedStereoRig.fromFile()RectifiedStereoRig.get3DPoints()RectifiedStereoRig.getRectifiedProjectionMatrices()RectifiedStereoRig.rectHomography1RectifiedStereoRig.rectHomography2RectifiedStereoRig.rectifyImages()RectifiedStereoRig.save()
-StereoRig
-StereoRig.EStereoRig.FStereoRig.RStereoRig.TStereoRig.distCoeffs1StereoRig.distCoeffs2StereoRig.fromFile()StereoRig.getBaseline()StereoRig.getCenters()StereoRig.getEssentialMatrix()StereoRig.getFundamentalMatrix()StereoRig.getProjectionMatrices()StereoRig.intrinsic1StereoRig.intrinsic2StereoRig.save()StereoRig.undistortImages()
-StructuredLightRig
-
- simplestereo.active module
- simplestereo.calibration module
- simplestereo.passive module
- simplestereo.points module
- simplestereo.rectification module
- simplestereo.unwrapping module
@@ -215,7 +108,7 @@ Quick search
-
+
@@ -235,7 +128,7 @@ Navigation
\ No newline at end of file
diff --git a/docs/py-modindex.html b/docs/py-modindex.html
index 37e8d2b..53a2709 100644
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\ No newline at end of file
diff --git a/docs/simplestereo.html b/docs/simplestereo.html
index 04628b0..f3a7f5a 100644
--- a/docs/simplestereo.html
+++ b/docs/simplestereo.html
@@ -1,19 +1,20 @@
-
+
-
+
simplestereo package — SimpleStereo 1 documentation
+
+
-
-
+
@@ -41,23 +42,23 @@ Navigation
-simplestereo package¶
+simplestereo package¶
-Module contents¶
+Module contents¶
-simplestereo¶
+simplestereo¶
Module initialization.
Documentation DOCSTRING follows numpy-style wherever possible.
See https://numpydoc.readthedocs.io/en/latest/format.html
-Submodules¶
+Submodules¶
-simplestereo._rigs module¶
+simplestereo._rigs module¶
-_rigs¶
+_rigs¶
Main classes loaded at package level.
@@ -66,17 +67,16 @@ _rigs¶
Add new rig class for uncalibrated stereo.
-
-
class simplestereo._rigs.RectifiedStereoRig(Rcommon, rectHomography1, rectHomography2, *args)[source]¶
-Bases: StereoRig
+Bases: simplestereo._rigs.StereoRig
Keep together and manage all parameters of a calibrated and rectified stereo rig.
It includes all the parameters of StereoRig plus two rectifying homographies. Differently from OpenCV,
here the rectifying homographies (pixel domain) are taken as input, the ones commonly referred in literature, and
not the rectification transformation in the object space.
-- Parameters:
+- Parameters
Rcommon (numpy.ndarray) – 3x3 matrices representing the new common camera orientation
after rectification.
_rigs¶
simplestereo.StereoRig() (in the same order).
- Attributes:
+- Attributes
- E
- F
@@ -103,7 +103,11 @@ _rigs¶
Methods
-