You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
35 lines
973 B
35 lines
973 B
#!/usr/bin/env python
|
|
import numpy as np
|
|
|
|
# copied from common.transformations/camera.py
|
|
eon_dcam_focal_length = 860.0 # pixels
|
|
webcam_focal_length = 908.0 # pixels
|
|
|
|
eon_dcam_intrinsics = np.array([
|
|
[eon_dcam_focal_length, 0, 1152/2.],
|
|
[ 0, eon_dcam_focal_length, 864/2.],
|
|
[ 0, 0, 1]])
|
|
|
|
webcam_intrinsics = np.array([
|
|
[webcam_focal_length, 0., 1280/2.],
|
|
[ 0., webcam_focal_length, 720/2.],
|
|
[ 0., 0., 1.]])
|
|
|
|
cam_id = 2
|
|
|
|
if __name__ == "__main__":
|
|
import cv2
|
|
|
|
trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics,np.linalg.inv(webcam_intrinsics))
|
|
|
|
cap = cv2.VideoCapture(cam_id)
|
|
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
|
|
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
|
|
|
|
while (True):
|
|
ret, img = cap.read()
|
|
if ret:
|
|
img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152,864), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
|
|
img = img[:,-864//2:,:]
|
|
cv2.imshow('preview', img)
|
|
cv2.waitKey(10) |