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43 lines
1.5 KiB
43 lines
1.5 KiB
#!/usr/bin/env python
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import numpy as np
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# copied from common.transformations/camera.py
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eon_focal_length = 910.0 # pixels
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eon_dcam_focal_length = 860.0 # pixels
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webcam_focal_length = -908.0/1.5 # pixels
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eon_intrinsics = np.array([
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[eon_focal_length, 0., 1164/2.],
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[ 0., eon_focal_length, 874/2.],
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[ 0., 0., 1.]])
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eon_dcam_intrinsics = np.array([
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[eon_dcam_focal_length, 0, 1152/2.],
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[ 0, eon_dcam_focal_length, 864/2.],
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[ 0, 0, 1]])
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webcam_intrinsics = np.array([
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[webcam_focal_length, 0., 1280/2/1.5],
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[ 0., webcam_focal_length, 720/2/1.5],
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[ 0., 0., 1.]])
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if __name__ == "__main__":
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import cv2 # pylint: disable=import-error
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trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics))
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trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
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print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
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print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
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cap = cv2.VideoCapture(1)
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
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while (True):
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ret, img = cap.read()
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if ret:
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# img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
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img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
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print(img.shape, end='\r')
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cv2.imshow('preview', img)
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cv2.waitKey(10)
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