NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-31 15:48:50 +01:00
parent 123c8fe350
commit 879adf7b91
2 changed files with 4 additions and 4 deletions
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2
robot/robot.py
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@ -85,7 +85,7 @@ class Robot(object):
def _init_camera(self): def _init_camera(self):
def gstreamer_pipeline( def gstreamer_pipeline(
capture_width=1280, capture_height=720, framerate=30): capture_width=1024, capture_height=720, framerate=30):
""" """
Utility function for setting parameters for the gstreamer camera Utility function for setting parameters for the gstreamer camera
pipeline pipeline

6
selflocalization/camera.py
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@ -114,13 +114,13 @@ class Camera(object):
# Set camera calibration info # Set camera calibration info
if robottype == 'arlo': if robottype == 'arlo':
self.imageSize = (1280, 720) self.imageSize = (1024, 720)
#self.intrinsic_matrix = np.asarray([ 7.1305391967046853e+02, 0., 3.1172820723774367e+02, 0., #self.intrinsic_matrix = np.asarray([ 7.1305391967046853e+02, 0., 3.1172820723774367e+02, 0.,
# 7.0564929862291285e+02, 2.5634470978315028e+02, 0., 0., 1. ], dtype = np.float64) # 7.0564929862291285e+02, 2.5634470978315028e+02, 0., 0., 1. ], dtype = np.float64)
#self.intrinsic_matrix = np.asarray([ 6.0727040957659040e+02, 0., 3.0757300398967601e+02, 0., #self.intrinsic_matrix = np.asarray([ 6.0727040957659040e+02, 0., 3.0757300398967601e+02, 0.,
# 6.0768864690145904e+02, 2.8935674612358201e+02, 0., 0., 1. ], dtype = np.float64) # 6.0768864690145904e+02, 2.8935674612358201e+02, 0., 0., 1. ], dtype = np.float64)
self.intrinsic_matrix = np.asarray([500, 0., self.imageSize[0] / 2.0, 0., self.intrinsic_matrix = np.asarray([1691, 0., self.imageSize[0] / 2.0, 0.,
500, self.imageSize[1] / 2.0, 0., 0., 1.], dtype = np.float64) 1691, self.imageSize[1] / 2.0, 0., 0., 1.], dtype = np.float64)
self.intrinsic_matrix.shape = (3, 3) self.intrinsic_matrix.shape = (3, 3)
#self.distortion_coeffs = np.asarray([ 1.1911006165076067e-01, -1.0003366233413549e+00, #self.distortion_coeffs = np.asarray([ 1.1911006165076067e-01, -1.0003366233413549e+00,
# 1.9287903277399834e-02, -2.3728201444308114e-03, -2.8137265581326476e-01 ], dtype = np.float64) # 1.9287903277399834e-02, -2.3728201444308114e-03, -2.8137265581326476e-01 ], dtype = np.float64)