CPP 静态合成

surround_view/fisheye_camera.py

@@ -73,26 +73,13 @@ class FisheyeCameraModel(object):
         return self
 
     def undistort(self, image):
-        result = cv2.remap(image, *self.undistort_maps, interpolation=cv2.INTER_LINEAR,
-                           borderMode=cv2.BORDER_CONSTANT)
-        return result
-    # def undistort(self, image):
-    #     uimg = cv2.UMat(image)
-    #     uresult = cv2.remap(
-    #         uimg,
-    #         *self.undistort_maps,
-    #         interpolation=cv2.INTER_LINEAR,
-    #         borderMode=cv2.BORDER_CONSTANT,
-    #         borderValue=(0, 0, 0)
-    #     )
-    #     return uresult.get()    
-
-    # def project(self, image):
-    #     result = cv2.warpPerspective(image, self.project_matrix, self.project_shape)
-    #     return result
+        uimg = cv2.UMat(image)
+        uresult = cv2.remap(uimg, *self.undistort_maps,
+                            interpolation=cv2.INTER_LINEAR,
+                            borderMode=cv2.BORDER_CONSTANT)
+        return uresult.get()
 
     def project(self, image):
-        # 转为 UMat（触发 GPU 路径）
         uimg = cv2.UMat(image)
         uresult = cv2.warpPerspective(
             uimg,
@@ -102,7 +89,7 @@ class FisheyeCameraModel(object):
             borderMode=cv2.BORDER_CONSTANT,
             borderValue=(0, 0, 0)
         )
-        return uresult.get()  # 转回 numpy array 供后续使用
+        return uresult.get()
 
     def flip(self, image):
         if self.camera_name == "front":