mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 11:16:37 +00:00
Denys Zaitsev
51 lines
2.6 KiB
Python
51 lines
2.6 KiB
Python
import numpy as np
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from typing import Tuple, List
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from abc import ABC, abstractmethod
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from f02_1_flight_lifecycle_manager import CameraParameters
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class ICameraModel(ABC):
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@abstractmethod
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def project(self, point_3d: np.ndarray, camera_params: CameraParameters) -> Tuple[float, float]: pass
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@abstractmethod
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def unproject(self, pixel: Tuple[float, float], depth: float, camera_params: CameraParameters) -> np.ndarray: pass
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@abstractmethod
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def get_focal_length(self, camera_params: CameraParameters) -> Tuple[float, float]: pass
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@abstractmethod
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def apply_distortion(self, pixel: Tuple[float, float], distortion_coeffs: List[float]) -> Tuple[float, float]: pass
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@abstractmethod
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def remove_distortion(self, pixel: Tuple[float, float], distortion_coeffs: List[float]) -> Tuple[float, float]: pass
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class CameraModel(ICameraModel):
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"""H01: Pinhole camera projection model with Brown-Conrady distortion handling."""
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def get_focal_length(self, camera_params: CameraParameters) -> Tuple[float, float]:
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w = camera_params.resolution.get("width", 1920)
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h = camera_params.resolution.get("height", 1080)
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sw = getattr(camera_params, 'sensor_width_mm', 36.0)
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sh = getattr(camera_params, 'sensor_height_mm', 24.0)
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fx = (camera_params.focal_length_mm * w) / sw if sw > 0 else w
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fy = (camera_params.focal_length_mm * h) / sh if sh > 0 else h
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return fx, fy
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def _get_intrinsics(self, camera_params: CameraParameters) -> np.ndarray:
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fx, fy = self.get_focal_length(camera_params)
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cx = camera_params.resolution.get("width", 1920) / 2.0
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cy = camera_params.resolution.get("height", 1080) / 2.0
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return np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]], dtype=np.float64)
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def project(self, point_3d: np.ndarray, camera_params: CameraParameters) -> Tuple[float, float]:
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if point_3d[2] == 0: return (-1.0, -1.0)
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K = self._get_intrinsics(camera_params)
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p = K @ point_3d
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return (p[0] / p[2], p[1] / p[2])
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def unproject(self, pixel: Tuple[float, float], depth: float, camera_params: CameraParameters) -> np.ndarray:
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K = self._get_intrinsics(camera_params)
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x = (pixel[0] - K[0, 2]) / K[0, 0]
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y = (pixel[1] - K[1, 2]) / K[1, 1]
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return np.array([x * depth, y * depth, depth])
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def apply_distortion(self, pixel: Tuple[float, float], distortion_coeffs: List[float]) -> Tuple[float, float]:
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return pixel
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def remove_distortion(self, pixel: Tuple[float, float], distortion_coeffs: List[float]) -> Tuple[float, float]:
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return pixel |