| 67 | |
| 68 | |
| 69 | class CameraParameter: |
| 70 | logger = None |
| 71 | SUPPORTED_KEYS = _CAMERA_PARAMETER_SUPPORTED_KEYS_ |
| 72 | |
| 73 | def __init__(self, |
| 74 | name: str = 'default', |
| 75 | H: int = 1080, |
| 76 | W: int = 1920) -> None: |
| 77 | """ |
| 78 | Args: |
| 79 | name (str, optional): |
| 80 | Name of this camera. Defaults to "default". |
| 81 | H (int, optional): |
| 82 | Height of a frame, in pixel. Defaults to 1080. |
| 83 | W (int, optional): |
| 84 | Width of a frame, in pixel. Defaults to 1920. |
| 85 | """ |
| 86 | self.name = name |
| 87 | self.parameters_dict = {} |
| 88 | in_mat = __zero_mat_list__(3) |
| 89 | self.parameters_dict['in_mat'] = in_mat |
| 90 | for distort_name in __distort_coefficient_names__: |
| 91 | self.parameters_dict[distort_name] = 0.0 |
| 92 | _, H = self.validate_item('H', H) |
| 93 | self.parameters_dict['H'] = H |
| 94 | _, W = self.validate_item('W', W) |
| 95 | self.parameters_dict['W'] = W |
| 96 | r_mat = __zero_mat_list__(3) |
| 97 | self.parameters_dict['rotation_mat'] = r_mat |
| 98 | t_list = [0.0, 0.0, 0.0] |
| 99 | self.parameters_dict['translation'] = t_list |
| 100 | |
| 101 | def reset_distort(self) -> None: |
| 102 | """Reset all distort coefficients to zero.""" |
| 103 | for distort_name in __distort_coefficient_names__: |
| 104 | self.parameters_dict[distort_name] = 0.0 |
| 105 | |
| 106 | def get_opencv_distort_mat(self) -> np.ndarray: |
| 107 | """Get a numpy array of 8 distort coefficients, which is the distCoeffs |
| 108 | arg of cv2.undistort. |
| 109 | |
| 110 | Returns: |
| 111 | ndarray: |
| 112 | (k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6) of 8 elements. |
| 113 | """ |
| 114 | dist_coeffs = [ |
| 115 | self.get_value('k1'), |
| 116 | self.get_value('k2'), |
| 117 | self.get_value('p1'), |
| 118 | self.get_value('p2'), |
| 119 | self.get_value('k3'), |
| 120 | self.get_value('k4'), |
| 121 | self.get_value('k5'), |
| 122 | self.get_value('k6'), |
| 123 | ] |
| 124 | dist_coeffs = np.array(dist_coeffs) |
| 125 | return dist_coeffs |
| 126 |
no outgoing calls
no test coverage detected