66 lines
2.9 KiB
Python
66 lines
2.9 KiB
Python
import os
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import cv2
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camera_names = ["front", "back", "left", "right"]
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# --------------------------------------------------------------------
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# (shift_width, shift_height): 鸟瞰图超出标定布的横向和纵向范围
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# 适配桌面环境，确保总范围不超过桌面尺寸
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shift_w = 50 # 左右方向各扩展10cm
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shift_h = 50 # 前后方向各扩展10cm
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# 标定布与车身之间的间隙（横向和纵向）
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inn_shift_w = 5 # 左右方向间隙
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inn_shift_h = 8 # 前后方向间隙
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# 标定布主体尺寸（宽×高）
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calib_width = 60 # 标定布宽度60cm
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calib_height = 100 # 标定布高度100cm
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# 拼接后图像的总尺寸
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total_w = calib_width + 2 * shift_w # 60 + 2×10 = 80cm（宽）
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total_h = calib_height + 2 * shift_h # 100 + 2×10 = 120cm（高）
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# 车身占据的矩形区域四角坐标
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# 确保与小车实际尺寸匹配：宽12cm，长20cm
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xl = shift_w + (calib_width - 12) // 2 + inn_shift_w # 10 + 24 + 5 = 39
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xr = xl + 12 # 右侧坐标，确保宽度12cm
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yt = shift_h + (calib_height - 20) // 2 + inn_shift_h # 10 + 40 + 8 = 58
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yb = yt + 20 # 底部坐标，确保长度20cm
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# --------------------------------------------------------------------
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project_shapes = {
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"front": (total_w, yt), # 前相机投影区域：宽80cm × 高58cm
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"back": (total_w, total_h - yb), # 后相机投影区域：宽80cm × 高42cm
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"left": (total_h, xl), # 左相机投影区域：高120cm × 宽39cm
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"right": (total_h, total_w - xr) # 右相机投影区域：高120cm × 宽29cm
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}
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# 四个标记点的像素位置，运行get_projection_map.py时需按相同顺序点击
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project_keypoints = {
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"front": [(shift_w + 12, shift_h), # 前标定板左上
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(shift_w + 48, shift_h), # 前标定板右上
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(shift_w + 12, shift_h + 16), # 前标定板左下
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(shift_w + 48, shift_h + 16)], # 前标定板右下
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"back": [(shift_w + 12, shift_h), # 后标定板左上
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(shift_w + 48, shift_h), # 后标定板右上
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(shift_w + 12, shift_h + 16), # 后标定板左下
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(shift_w + 48, shift_h + 16)], # 后标定板右下
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"left": [(shift_h + 28, shift_w), # 左标定板左上
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(shift_h + 64, shift_w), # 左标定板右上
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(shift_h + 28, shift_w + 12), # 左标定板左下
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(shift_h + 68, shift_w + 12)], # 左标定板右下
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"right": [(shift_h + 28, shift_w), # 右标定板左上
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(shift_h + 64, shift_w), # 右标定板右上
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(shift_h + 28, shift_w + 12), # 右标定板左下
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(shift_h + 68, shift_w + 12)] # 右标定板右下
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}
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# 加载并调整车身图标大小以匹配车身区域
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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)) # 调整为12×20cm的车身大小
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