25 lines
3.5 KiB
Plaintext
25 lines
3.5 KiB
Plaintext
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<00>
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<EFBFBD>i{ <00> @ s8 d dl Z d dlZd dlZddlmZ G dd<05> de<07>ZdS )<06> N<> )<01>param_settingsc @ sR e Zd ZdZdd<03> Zdd<05> Zdd<07> Zdd
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d <0B>Zd d
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dd<13> Z dS )<16>FisheyeCameraModelzX
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Fisheye camera model, for undistorting, projecting and flipping camera frames.
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c C sj t j<01>|<01>std<01><01>|tjkr,td<02>|<02><01><01>|| _|| _d| _ d| _
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| j | _| <00><0F> d S )Nz Cannot find camera param filezUnknown camera name: {}<7D><02> <00>?r <00>r r )<10>os<6F>path<74>isfile<6C>
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ValueError<EFBFBD>settings<67> camera_names<65>format<61> camera_file<6C> camera_name<6D>scale_xy<78>shift_xy<78>undistort_maps<70>project_matrixZproject_shapes<65>
project_shape<70>load_camera_params)<03>selfZcamera_param_filer <00> r <00>//home/ztl/LJ360/surround_view/fisheye_camera.py<70>__init__ s
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zFisheyeCameraModel.__init__c C s<> t <00>| jt j<03>}|<01>d<01><01><05> | _|<01>d<02><01><05> | _|<01>d<03><01><05> <00><08> | _ |<01>d<04><01><05> }|d k r`|| _
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|<01>d<05><01><05> }|d k r||| _ |<01>d<06><01><05> }|d k r<>|| _ |<01>
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camera_matrix<69> dist_coeffs<66>
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resolutionr r r )<0F>cv2<76> FileStorager <00>FILE_STORAGE_READ<41>getNode<64>matr r <00>flattenr r r r <00>release<73>update_undistort_maps)r <00>fsr r r r r r r s z%FisheyeCameraModel.load_camera_paramsc C s<> | j <00><01> }|d | jd 9 < |d | jd 9 < |d | jd 7 < |d | jd 7 < | j\}}tj<06>| j | jt <09>
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d<07>|||ftj <0B>| _ | S )Nr r )r r r )r <00> )r r' <00> )
r <00>copyr r r r <00>fisheye<79>initUndistortRectifyMapr <00>np<6E>eye<79>CV_16SC2r )r Z
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new_matrix<EFBFBD>widthZheightr r r r% 3 s
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<04>z(FisheyeCameraModel.update_undistort_mapsr r c C s || _ || _| <00><02> | S )N)r r r% )r r r r r r <00>set_scale_and_shiftE s z&FisheyeCameraModel.set_scale_and_shiftc C s" t j|f| j<02>t jt jd<01><02>}|S )N)<02>
interpolation<6F>
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borderMode)r <00>remapr <00> INTER_LINEAR<41>BORDER_CONSTANT)r <00>image<67>resultr r r <00> undistortK s <04>z FisheyeCameraModel.undistortc C s0 t <00>|<01>}t j|| j| jt jt jdd<02>}|<03><07> S )N)r r r )<03>flagsr2 Z borderValue)r <00>UMat<61>warpPerspectiver r r4 r5 <00>get)r r6 ZuimgZuresultr r r <00>project^ s
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<02>zFisheyeCameraModel.projectc C s| | j dkr|<01><01> S | j dkr>|<01><01> d d d<03>d d d<03>d d <00>f S | j dkr\t<02>|<01>d d d<03> S t<02>|<01>d d <00>d d d<03>f S d S )N<>front<6E>back<63><6B><EFBFBD><EFBFBD><EFBFBD><EFBFBD>left)r r) r <00> transpose)r r6 r r r <00>flipk s
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"
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zFisheyeCameraModel.flipc C s| t <00>| jt j<03>}|<01>d| j<05> |<01>d| j<06> |<01>d| j<07> |<01>d| j<08> |<01>dt <09>
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<0A> d S )Nr r r r r r )r r r <00>FILE_STORAGE_WRITE<54>writer r r r r, <00>float32r r r$ )r r& r r r <00> save_datax s z FisheyeCameraModel.save_dataN)r r ) <0C>__name__<5F>
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__module__<EFBFBD> __qualname__<5F>__doc__r r r% r0 r8 r= rC rG r r r r r s
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r ) r <00>numpyr, r <00> r r <00>objectr r r r r <00><module> s
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