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tools/ui.py: support playing qcamera (#22571)

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old-commit-hash: f564eca51d72c00ba379fc7d891982bef4c92791
This commit is contained in:
Dean Lee
2021-10-17 02:32:24 +08:00
committed by GitHub
parent 4e2be9ccda
commit 09a378d1eb
1 changed files with 21 additions and 9 deletions
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30
tools/replay/lib/ui_helpers.py
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@@ -25,22 +25,34 @@ _FULL_FRAME_SIZE = {
}
_BB_TO_FULL_FRAME = {}
_CALIB_BB_TO_FULL = {}
_FULL_FRAME_TO_BB = {}
_INTRINSICS = {}
cams = [(eon_f_frame_size[0], eon_f_frame_size[1], eon_f_focal_length),
(tici_f_frame_size[0], tici_f_frame_size[1], tici_f_focal_length)]
for width, height, focal in cams:
sz = width * height
_BB_SCALE = width / 640.
eon_f_qcam_frame_size = (480, 360)
tici_f_qcam_frame_size = (526, 330)
cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
(tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
(eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
(tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
for size, focal, full_size in cams:
sz = size[0] * size[1]
_BB_SCALE = size[0] / 640.
_BB_TO_FULL_FRAME[sz] = np.asarray([
[_BB_SCALE, 0., 0.],
[0., _BB_SCALE, 0.],
[0., 0., 1.]])
calib_scale = full_size[0] / 640.
_CALIB_BB_TO_FULL[sz] = np.asarray([
[calib_scale, 0., 0.],
[0., calib_scale, 0.],
[0., 0., 1.]])
_FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
_FULL_FRAME_SIZE[sz] = (width, height)
_FULL_FRAME_SIZE[sz] = (size[0], size[1])
_INTRINSICS[sz] = np.array([
[focal, 0., width / 2.],
[0., focal, height / 2.],
[focal, 0., full_size[0] / 2.],
[0., focal, full_size[1] / 2.],
[0., 0., 1.]])
@@ -50,7 +62,7 @@ class Calibration:
def __init__(self, num_px, rpy, intrinsic):
self.intrinsic = intrinsic
self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
self.zoom = _BB_TO_FULL_FRAME[num_px][0, 0]
self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0]
def car_space_to_ff(self, x, y, z):
car_space_projective = np.column_stack((x, y, z)).T