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IQ.Lvbs CI [bot]
88 lines
2.8 KiB
Python
88 lines
2.8 KiB
Python
import itertools
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import numpy as np
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from dataclasses import dataclass
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import iqpilot.common.transformations.orientation as orient
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## -- hardcoded hardware params --
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@dataclass(frozen=True)
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class CameraConfig:
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width: int
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height: int
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focal_length: float
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@property
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def size(self):
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return (self.width, self.height)
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@property
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def intrinsics(self):
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# aka 'K' aka camera_frame_from_view_frame
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return np.array([
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[self.focal_length, 0.0, float(self.width)/2],
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[0.0, self.focal_length, float(self.height)/2],
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[0.0, 0.0, 1.0]
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])
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@property
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def intrinsics_inv(self):
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# aka 'K_inv' aka view_frame_from_camera_frame
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return np.linalg.inv(self.intrinsics)
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@dataclass(frozen=True)
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class _NoneCameraConfig(CameraConfig):
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width: int = 0
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height: int = 0
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focal_length: float = 0
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@dataclass(frozen=True)
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class DeviceCameraConfig:
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fcam: CameraConfig
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dcam: CameraConfig
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ecam: CameraConfig
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def all_cams(self):
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for cam in ['fcam', 'dcam', 'ecam']:
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if not isinstance(getattr(self, cam), _NoneCameraConfig):
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yield cam, getattr(self, cam)
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_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
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_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
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_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
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_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
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_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
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DEVICE_CAMERAS = {
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# A "device camera" is defined by a device type and sensor
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# sensor type was never set on eon/neo/two
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("neo", "unknown"): _neo_config,
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# unknown here is AR0231, field was added with OX03C10 support
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("tici", "unknown"): _ar_ox_config,
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# before deviceState.deviceType was set, assume tici AR config
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("unknown", "ar0231"): _ar_ox_config,
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("unknown", "ox03c10"): _ar_ox_config,
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# simulator (emulates a tici)
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("pc", "unknown"): _ar_ox_config,
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}
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prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
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DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
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# device/mesh : x->forward, y-> right, z->down
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# view : x->right, y->down, z->forward
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device_frame_from_view_frame = np.array([
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[ 0., 0., 1.],
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[ 1., 0., 0.],
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[ 0., 1., 0.]
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])
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view_frame_from_device_frame = device_frame_from_view_frame.T
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# aka 'extrinsic_matrix'
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def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
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device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
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view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
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return np.hstack((view_from_calib, [[0], [height], [0]]))
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