96 lines
3.3 KiB
Python
96 lines
3.3 KiB
Python
import os
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import cv2
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# 摄像头名称列表
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camera_names = ["front", "back", "left", "right"]
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# 标定布向外扩展的尺寸，单位为像素，默认不修改
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shift_w = 300
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shift_h = 300
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# 标定布的长和宽
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cal_w = 3000
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cal_h = 3500
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# 标定布四角的长和宽
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conner_w = 1000
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conner_h = 1000
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# 车辆的长和宽
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car_w = 300
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car_h = 550
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# 车辆与标定布指定四角之间的间隙
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inn_shift_w = (cal_w - 2 * conner_w - car_w)//2
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inn_shift_h = (cal_h - 2 * conner_h - car_h)//2
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# 图片的总宽度和总高度
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total_w = cal_w + 2 * shift_w
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total_h = cal_h + 2 * shift_h
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# 车辆所占矩形区域的四个角坐标
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# 左上角 (x_left, y_top)，右下角 (x_right, y_bottom)
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xl = shift_w + conner_w + inn_shift_w
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xr = total_w - xl
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yt = shift_h + conner_h + inn_shift_h
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yb = total_h - yt
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# --------------------------------------------------------------------
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# 各摄像头投影区域的尺寸
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project_shapes = {
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"front": (total_w, yt), # 前摄像头：(宽度, 高度)
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"back": (total_w, yt), # 后摄像头：(宽度, 高度)
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"left": (total_h, xl), # 左摄像头：(宽度, 高度)
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"right": (total_h, xl) # 右摄像头：(宽度, 高度)
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}
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# 待选择的四个点的像素位置
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# 运行 get_projection_map.py 脚本时，必须按相同顺序点击这些像素
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project_keypoints = {
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"front": [(shift_w + 200, shift_h), # 前摄像头的四个关键点坐标
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(shift_w + 2800, shift_h),
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(shift_w + 200, shift_h + 800),
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(shift_w + 2800, shift_h + 800)],
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"back": [(shift_w + 80, shift_h), # 后摄像头的四个关键点坐标
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(shift_w + 320, shift_h),
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(shift_w + 80, shift_h + 200),
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(shift_w + 320, shift_h + 200)],
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"left": [(shift_w + 80, shift_h), # 左摄像头的四个关键点坐标
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(shift_w + 320, shift_h),
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(shift_w + 80, shift_h + 200),
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(shift_w + 320, shift_h + 200)],
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"right": [(shift_h + 240, shift_w), # 右摄像头的四个关键点坐标
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(shift_h + 560, shift_w),
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(shift_h + 240, shift_w + 120),
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(shift_h + 560, shift_w + 120)],
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}
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# 读取车辆图片并调整尺寸以匹配车辆所在区域
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car_image = cv2.imread(os.path.join(os.getcwd(), "images", "car.png"))
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car_image = cv2.resize(car_image, (xr - xl, yb - yt))
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# 输出所有参数
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print("--------------------------------------------------------------------")
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print(f"总宽度：{total_w}")
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print(f"总高度：{total_h}")
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print(f"车辆宽度：{car_w}")
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print(f"车辆高度：{car_h}")
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print(f"标定布宽度：{cal_w}")
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print(f"标定布高度：{cal_h}")
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print(f"标定布内四角宽度：{conner_w}")
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print(f"标定布内四角高度：{conner_h}")
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print(f"标定布外扩展宽度：{shift_w}")
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print(f"标定布外扩展高度：{shift_h}")
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print(f"车辆所在区域内间隙宽度：{inn_shift_w}")
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print(f"车辆所在区域内间隙高度：{inn_shift_h}")
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print(f"车辆所在区域左上角：({xl}, {yt})")
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print(f"车辆所在区域右下角：({xr}, {yb})")
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print(f"车辆所在区域四角坐标：{project_keypoints}")
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print(f"投影区域尺寸：{project_shapes}")
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print("--------------------------------------------------------------------")
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