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web前备份

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路怀帅
2025-12-23 09:18:32 +08:00
parent d8b28c238b
commit 4961794bf5
26 changed files with 1124 additions and 232 deletions
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27
surround_view/fisheye_camera.py
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@@ -76,10 +76,33 @@ class FisheyeCameraModel(object):
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
def project(self, image):
result = cv2.warpPerspective(image, self.project_matrix, self.project_shape)
return result
# 转为 UMat（触发 GPU 路径）
uimg = cv2.UMat(image)
uresult = cv2.warpPerspective(
uimg,
self.project_matrix,
self.project_shape,
flags=cv2.INTER_LINEAR,
borderMode=cv2.BORDER_CONSTANT,
borderValue=(0, 0, 0)
)
return uresult.get() # 转回 numpy array 供后续使用
def flip(self, image):
if self.camera_name == "front":