gaze_mappers.py 文件源码

def __init__(self, g_pool, eye_camera_to_world_matrix0, eye_camera_to_world_matrix1 , camera_intrinsics , cal_points_3d = [],cal_ref_points_3d = [], cal_gaze_points0_3d = [], cal_gaze_points1_3d = [] ):
        super().__init__(g_pool)

        self.eye_camera_to_world_matricies  =  eye_camera_to_world_matrix0 , eye_camera_to_world_matrix1
        self.rotation_matricies  =  eye_camera_to_world_matrix0[:3,:3],eye_camera_to_world_matrix1[:3,:3]
        self.rotation_vectors = cv2.Rodrigues( eye_camera_to_world_matrix0[:3,:3]  )[0] , cv2.Rodrigues( eye_camera_to_world_matrix1[:3,:3]  )[0]
        self.translation_vectors  = eye_camera_to_world_matrix0[:3,3] , eye_camera_to_world_matrix1[:3,3]


        self.cal_points_3d = cal_points_3d
        self.cal_ref_points_3d = cal_ref_points_3d

        self.cal_gaze_points0_3d = cal_gaze_points0_3d #save for debug window
        self.cal_gaze_points1_3d = cal_gaze_points1_3d #save for debug window

        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.visualizer = Calibration_Visualizer(g_pool,
                                                world_camera_intrinsics=camera_intrinsics ,
                                                cal_ref_points_3d = cal_points_3d,
                                                cal_observed_points_3d = cal_ref_points_3d,
                                                eye_camera_to_world_matrix0=  self.eye_camera_to_world_matricies[0],
                                                cal_gaze_points0_3d = cal_gaze_points0_3d,
                                                eye_camera_to_world_matrix1=  self.eye_camera_to_world_matricies[1],
                                                cal_gaze_points1_3d =  cal_gaze_points1_3d)
        self.g_pool = g_pool
        self.gaze_pts_debug0 = []
        self.gaze_pts_debug1 = []
        self.intersection_points_debug = []
        self.sphere0 = {}
        self.sphere1 = {}
        self.last_gaze_distance = 500.