HViktorTsoi

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HViktorTsoi

@nb.njit(nb.float64[:, :](nb.float64[:, :], nb.float32))

HViktorTsoi

def BLH2XYZ(B, L, H):
    '''B: lat  L:lon  H: height'''
    Lat, Lon = B, L

    N, E, h = 0, 0, 0
    L0 = (int((L - 1.5) / 3.0) + 1) * 3.0  #

    a = 6378245.0  #
    F = 298.257223563  #

HViktorTsoi

import open3d as o3d
import time

class NonBlockVisualizer:
    def __init__(self, point_size=2, background_color=[0, 0, 0]):
        self.__visualizer = o3d.visualization.Visualizer()
        self.__visualizer.create_window()
        opt = self.__visualizer.get_render_option()
        opt.background_color = np.asarray(background_color)
        opt = self.__visualizer.get_render_option()

HViktorTsoi

image_width: 640
image_height: 480
camera_name: dope_webcam_0
camera_matrix:
  rows: 3
  cols: 3
  data: [641.5, 0, 320.0, 0, 641.5, 240.0, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1

HViktorTsoi

//
// Created by hvt on 2021/11/3.
//
#include <stddef.h>
#include <stdio.h>

enum PARSE_STATES {
    FIND_HEAD_0,
    FIND_HEAD_1,
    FIND_LENGTH,

HViktorTsoi

def devignetting(image, radius_sigma=0.3, amount=0.7, power=1.1):
    """
    :param image: input image
    :param radius_sigma: vignetting radius = radius_sigma * image width
    :param amount: the amount of exposure increment for devignetting
    :param power: increase this will add extra exposure increment on image border
    :return:
    """

HViktorTsoi

import cv2
import numpy as np
import matplotlib.pyplot as plt

K = np.array([
    [1377.4254511359, 0, 1054.3015274037],
    [0, 1373.0788259424, 760.6952319349],
    [0, 0, 1],
]).astype(np.float32)
D = np.array([-0.5522170592, 0.2365604514, 0.0021662078, -0.0028341398]).astype(np.float32)

HViktorTsoi

touch .gitignore && echo '.idea\ncmake-build-debug\n.vscode' > .gitignore

HViktorTsoi

import numpy as np
import ros_numpy

from sensor_msgs.msg import PointCloud2

"""
pc: 2d numpy array of shape (N, 4)
"""

pc_array = np.zeros(len(pc), dtype=[