gaze_mappers.py 文件源码

def __init__(self, g_pool, eye_camera_to_world_matrix , camera_intrinsics ,cal_points_3d, cal_ref_points_3d, cal_gaze_points_3d, gaze_distance = 500 ):
        super().__init__(g_pool)
        self.eye_camera_to_world_matrix  =  eye_camera_to_world_matrix
        self.rotation_matrix = self.eye_camera_to_world_matrix[:3,:3]
        self.rotation_vector = cv2.Rodrigues( self.rotation_matrix  )[0]
        self.translation_vector  = self.eye_camera_to_world_matrix[:3,3]
        self.camera_matrix = camera_intrinsics['camera_matrix']
        self.dist_coefs = camera_intrinsics['dist_coefs']
        self.world_frame_size = camera_intrinsics['resolution']
        self.camera_intrinsics = camera_intrinsics
        self.cal_points_3d = cal_points_3d
        self.cal_ref_points_3d = cal_ref_points_3d
        self.cal_gaze_points_3d = cal_gaze_points_3d
        self.visualizer = Calibration_Visualizer(g_pool, camera_intrinsics ,cal_points_3d, cal_ref_points_3d,eye_camera_to_world_matrix, cal_gaze_points_3d)
        self.g_pool = g_pool
        self.gaze_pts_debug = []
        self.sphere = {}
        self.gaze_distance = gaze_distance