core.sensor_simulation.camera_simulation

Classes

VirtualCamera 

VirtualCamera()

相机模拟器

Attributes

blender instance-attribute 
blender = Blender()
default_log_dir class-attribute instance-attribute 
default_log_dir = config.common_config.blender_root_dirname
image_height instance-attribute 
image_height = config.camera_config.img_height
image_width instance-attribute 
image_width = config.camera_config.img_width
is_transparent instance-attribute 
is_transparent = 0
lens instance-attribute 
lens = config.camera_config.lens
sensor_fit instance-attribute 
sensor_fit = config.camera_config.sensor_fit
sensor_height instance-attribute 
sensor_height = config.camera_config.sensor_height
sensor_width instance-attribute 
sensor_width = config.camera_config.sensor_width
shift_x instance-attribute 
shift_x = config.camera_config.shift_x
shift_y instance-attribute 
shift_y = config.camera_config.shift_y

Functions

camera_simulation 
camera_simulation(save_img_obj_path: str, obj_camera_position: List[float], obj_rz_degree: float, obj_mesh_path: str, bg_calib_path: str, save_log_dir: str = default_log_dir) -> numpy.ndarray
Parameters:
  • save_img_obj_path (str) –

    生成图片存储路径

  • obj_camera_position (List[float]) –

    物体平移参数

  • obj_rz_degree (float) –

    物体旋转角度

  • obj_mesh_path (str) –

    物体存储路径

  • bg_calib_path (str) –

    背景矫正文件存储路径

  • save_log_dir (str, default: default_log_dir ) –

    日志存储路径
Returns:
  • ndarray –

    物体二维观测图片
crop_obj_from_image 
crop_obj_from_image(img_obj_init: numpy.ndarray) -> numpy.ndarray

图像中裁剪对象,(以行列为单位)去除图像中的透明像素

Parameters:
  • img_obj_init (ndarray) –

    原始物体图片
Returns:
  • ndarray –

    含物体的最小图片
get_image_filename staticmethod 
get_image_filename(position_camera: List[float], obj_name: str, rz_degree: float) -> str

拼接blender生成的图像文件名

Parameters:
  • position_camera (List[float]) –

    物体相机坐标系下坐标

  • obj_name (str) –

    物体名称

  • rz_degree (float) –

    物体旋转角度
Returns:
  • str –

    生成的物体图片文件名