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| import numpy as np | |
| NEXUS_7 = 0x1 | |
| NEXUS_7_INV = 0x2 | |
| WEBCAM = 0x3 | |
| # Camera coefficients | |
| dist_coefs_n7 = np.array([[-0.04784793, -0.21276658, -0.00432402, 0.00086078, 0.69334691]]) | |
| cam_mat_n7 = np.array([[1062.348, 0.0 , 344.629], | |
| [0.0 , 1065.308, 626.738], | |
| [0.0 , 0.0 , 1.0]]) | |
| # Screen size constants | |
| screen_w_mm_n7, screen_h_mm_n7 = 94, 151 | |
| screen_w_px_n7, screen_h_px_n7 = 800, 1280 | |
| screen_y_offset_px_n7 = 32 # For notification bar at top of screen | |
| class Device: | |
| def __init__(self, device_type): | |
| self.device_type = device_type | |
| # General Nexus 7 settings | |
| if device_type == NEXUS_7 or device_type == NEXUS_7_INV: | |
| self.fx, self.fy = cam_mat_n7[0][0], cam_mat_n7[1][1] | |
| self.cx, self.cy = cam_mat_n7[0][2], cam_mat_n7[1][2] | |
| self.screen_size_mm = screen_w_mm_n7, screen_h_mm_n7 | |
| self.screen_size_px = screen_w_px_n7, screen_h_px_n7 | |
| self.screen_y_offset_px = screen_y_offset_px_n7 | |
| self.offset_mm = 47, 16 | |
| self.rot90s = 1 | |
| self.mirror = False | |
| # Special settings for inverted Nexus 7 | |
| if device_type == NEXUS_7_INV: | |
| self.offset_mm = 47, -(self.screen_size_mm[1] + 16) | |
| self.rot90s = -1 | |
| # Dummy values for Webcam (use N7 as default), these have not been calibrated | |
| if device_type == WEBCAM: | |
| self.fx, self.fy = cam_mat_n7[0][0], cam_mat_n7[1][1] | |
| self.cx, self.cy = cam_mat_n7[0][0], cam_mat_n7[1][1] | |
| self.screen_size_mm = screen_w_mm_n7, screen_h_mm_n7 | |
| self.screen_size_px = screen_w_px_n7, screen_h_px_n7 | |
| self.screen_y_offset_px = 0 | |
| self.offset_mm = 0, 0 | |
| self.rot90s = 0 | |
| self.mirror = True | |
| def get_intrisic_cam_params(self): | |
| return self.fx, self.fy, self.cx, self.cy | |
| def get_dist_coeffs(self): | |
| return dist_coefs_n7 |