|
|
|
|
import numpy as np
|
|
|
|
|
from scipy.optimize import minimize
|
|
|
|
|
|
|
|
|
|
#保存相机内参、外参等参数
|
|
|
|
|
# class Model:
|
|
|
|
|
# def __init__(self):
|
|
|
|
|
# # 内参
|
|
|
|
|
# self.K = np.array([[801.8319, 0, 647.8920],
|
|
|
|
|
# [0, 801.7619, 532],
|
|
|
|
|
# [0, 0, 1]])
|
|
|
|
|
# self.f = 3.6
|
|
|
|
|
# self.H = 1019.0000170167332
|
|
|
|
|
# self.dx = self.f / self.K[0, 0]
|
|
|
|
|
# self.dy = self.f / self.K[1, 1]
|
|
|
|
|
# self.u0 = self.K[0, 2]
|
|
|
|
|
# self.v0 = self.K[1, 2]
|
|
|
|
|
# # 外参
|
|
|
|
|
# self.alpha = 0.7072338025822084
|
|
|
|
|
# self.beta = 0.9077237961986776
|
|
|
|
|
# # 位置修正
|
|
|
|
|
# self.y = -70
|
|
|
|
|
# self.x = 22
|
|
|
|
|
# # 数据截断线
|
|
|
|
|
# self.limit_slope = 0.3259949467095897
|
|
|
|
|
# self.limit_intercept = 452.86565535382374
|
|
|
|
|
# self.K = np.array([[1086.58411235010, 0.00000000e+00, 656.379279306796],
|
|
|
|
|
# [0.00000000e+00, 1086.65442545872, 960-489.101890262552],
|
|
|
|
|
# [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
|
|
|
|
|
class Model:
|
|
|
|
|
def __init__(self):
|
|
|
|
|
# 内参
|
|
|
|
|
self.K = np.array([[838.19297892, 0, 658.51580973],
|
|
|
|
|
[0, 836.93529706, 960-484.42225009],
|
|
|
|
|
[0, 0, 1]])
|
|
|
|
|
# self.K = np.array([[1086.58411235010, 0.00000000e+00, 656.379279306796],
|
|
|
|
|
# [0.00000000e+00, 1086.65442545872, 960-489.101890262552],
|
|
|
|
|
# [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
|
|
|
|
|
self.dist_coeffs = np.array([[-4.50688803e-01, 2.60760637e-01, 2.10619624e-04, - 6.69674309e-04, - 4.47846385e-02]])
|
|
|
|
|
self.f = 3.6
|
|
|
|
|
self.H = 1.007e+03
|
|
|
|
|
self.dx = self.f / self.K[0, 0]
|
|
|
|
|
self.dy = self.f / self.K[1, 1]
|
|
|
|
|
self.u0 = self.K[0, 2]
|
|
|
|
|
self.v0 = self.K[1, 2]
|
|
|
|
|
# 外参
|
|
|
|
|
self.alpha = 9.135e-01
|
|
|
|
|
self.beta = 7.271e-01
|
|
|
|
|
# 位置修正
|
|
|
|
|
self.y = 0
|
|
|
|
|
self.x = 0
|
|
|
|
|
self.q = -2.892e-02
|
