From 55301985adfadceeb4165ff3e5d04296e74e8e2f Mon Sep 17 00:00:00 2001 From: yewuya Date: Sun, 12 Sep 2021 14:40:02 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=B8=80=E5=A0=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- aruco 参数分析.md | 21 ++++-- matlab标定参数.md | 167 ++++++++++++++++++++++++++++++++++++++++++++-- 远程桌面.md | 19 ++++++ 3 files changed, 197 insertions(+), 10 deletions(-) create mode 100644 远程桌面.md diff --git a/aruco 参数分析.md b/aruco 参数分析.md index a15aee4..5172fff 100644 --- a/aruco 参数分析.md +++ b/aruco 参数分析.md @@ -44,8 +44,21 @@ source ~/.bashrc +```python +# 图像二值化 +def threshold(self): + src = self.cv_read_img(self.src_file) + if src is None: + return + + gray = cv.cvtColor(src, cv.COLOR_BGR2GRAY) + + # 这个函数的第一个参数就是原图像，原图像应该是灰度图。 + # 第二个参数就是用来对像素值进行分类的阈值。 + # 第三个参数就是当像素值高于（有时是小于）阈值时应该被赋予的新的像素值 + # 第四个参数来决定阈值方法，见threshold_simple() + # ret, binary = cv.threshold(gray, 127, 255, cv.THRESH_BINARY) + ret, dst = cv.threshold(gray, 127, 255, cv.THRESH_BINARY | cv.THRESH_OTSU) + self.decode_and_show_dst(dst) +``` - -```text - -``` \ No newline at end of file diff --git a/matlab标定参数.md b/matlab标定参数.md index 809c10f..e4e2e31 100644 --- a/matlab标定参数.md +++ b/matlab标定参数.md @@ -8,14 +8,8 @@ | 0 | 6.651309839828123e+03 | 5.358189824761293e+02 | | 0 | 0 | 1 | - - - - ## 畸变 - - | 0 | 1 | | ---- | ---------------------- | | k1 | 15.417476643365749 | @@ -48,3 +42,164 @@ ``` +## h20t-wide +### matlab相机内参 + +| 0 | 1 | 2 | +| --------------------- | --------------------- | --------------------- | +| 1.031702877495456e+03 | 0 | 7.218195236014553e+02 | +| 0 | 1.031973212074951e+03 | 5.237434637031985e+02 | +| 0 | 0 | 1 | + +### matlab畸变 + +| 0 | 1 | +| ---- | ------------------ | +| k1 | 0.395601113675025 | +| k2 | 1.821800287761213 | +| p1 | -0.002359010285514 | +| p2 | 0.001310912112583 | +| k3 | 2.440065871569540 | + +### matlab code +```java + if (model == Model.MATRICE_300_RTK) { + cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) { + { + put(0, 0, 1.031702877495456e+03, 0, 7.218195236014553e+02); + put(1, 0, 0, 1.031973212074951e+03, 5.237434637031985e+02); + put(2, 0, 0, 0, 1); + } + }; + distCoeffs = new Mat(5, 1, CvType.CV_64FC1) { + { + put(0, 0, 0.395601113675025); + put(1, 0, 1.821800287761213); + put(2, 0, -0.002359010285514); + put(3, 0, 0.001310912112583); + put(4, 0, 2.440065871569540); + } + }; + } +``` +### opencv相机内参 + +| 0 | 1 | 2 | +| -------------- | -------------- | -------------- | +| 1.03309006e+03 | 0 | 7.21136602e+02 | +| 0 | 1.03340179e+03 | 5.22873022e+02 | +| 0 | 0 | 1 | + + +### opencv畸变 + +| 0 | 1 | +| ---- | --------------- | +| k1 | 3.92926049e-01 | +| k2 | -1.79059043e+00 | +| p1 | -2.31264466e-03 | +| p2 | -1.31495457e-03 | +| k3 | 2.35399874e+00 | + +### opencv code +```java + if (model == Model.MATRICE_300_RTK) { + cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) { + { + put(0, 0, 1.03309006e+03, 0, 7.21136602e+02); + put(1, 0, 0, 1.03340179e+03, 5.22873022e+02); + put(2, 0, 0, 0, 1); + } + }; + distCoeffs = new Mat(5, 1, CvType.CV_64FC1) { + { + put(0, 0, 3.92926049e-01); + put(1, 0, -1.79059043e+00); + put(2, 0, -2.31264466e-03); + put(3, 0, -1.31495457e-03); + put(4, 0, 2.35399874e+00); + } + }; + } +``` + +## h20-wide +### matlab相机内参 + +| 0 | 1 | 2 | +| --------------------- | --------------------- | --------------------- | +| 1.044519539602912e+03 | 0 | 6.972195526483131e+02 | +| 0 | 1.044812413150267e+03 | 5.401129532084527e+02 | +| 0 | 0 | 1 | + +### matlab畸变 + +| 0 | 1 | +| ---- | ---------------------- | +| k1 | 0.364115622764920 | +| k2 | 1.536252491565715 | +| p1 | -9.228759331583879e-04 | +| p2 | -0.001232457536218 | +| k3 | 1.892321165817003 | + +### matlab code +```java + if (model == Model.MATRICE_300_RTK) { + cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) { + { + put(0, 0, 1.044519539602912e+03, 0, 6.972195526483131e+02); + put(1, 0, 0, 1.044812413150267e+03, 5.401129532084527e+02); + put(2, 0, 0, 0, 1); + } + }; + distCoeffs = new Mat(5, 1, CvType.CV_64FC1) { + { + put(0, 0, 0.364115622764920); + put(1, 0, 1.536252491565715); + put(2, 0, -9.228759331583879e-04); + put(3, 0, -0.001232457536218); + put(4, 0, 1.892321165817003); + } + }; + } +``` +### opencv相机内参 + +| 0 | 1 | 2 | +| -------------- | -------------- | -------------- | +| 1.04447865e+03 | 0 | 6.96263376e+02 | +| 0 | 1.04474733e+03 | 5.39167804e+02 | +| 0 | 0 | 1 | + + +### opencv畸变 + +| 0 | 1 | +| ---- | --------------- | +| k1 | 3.63236533e-01 | +| k2 | -1.53128654e+00 | +| p1 | -9.46646880e-04 | +| p2 | -1.18548317e-03 | +| k3 | 1.88324325e+00 | + +### opencv code +```java + if (model == Model.MATRICE_300_RTK) { + cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) { + { + put(0, 0, 1.03309006e+03, 0, 7.21136602e+02); + put(1, 0, 0, 1.03340179e+03, 5.22873022e+02); + put(2, 0, 0, 0, 1); + } + }; + distCoeffs = new Mat(5, 1, CvType.CV_64FC1) { + { + put(0, 0, 3.63236533e-01); + put(1, 0, -1.53128654e+00); + put(2, 0, -9.46646880e-04); + put(3, 0, -1.18548317e-03); + put(4, 0, 1.88324325e+00); + } + }; + } +``` diff --git a/远程桌面.md b/远程桌面.md new file mode 100644 index 0000000..bb50f71 --- /dev/null +++ b/远程桌面.md @@ -0,0 +1,19 @@ +# 远程桌面 + +## rustdesk + +| 项目 | 公司电脑 | 家里电脑 | UWB 电脑 | +| ---- | ---------- | -------- | -------- | +| id | 29 078 604 | | | +| 密码 | wujinhui | | | +| | | | | + +## 向日葵 + + +| 项目 | 公司电脑 | 家里电脑 | UWB 电脑 | +| ---- | ---------- | -------- | -------- | +| id |496 782 610 | | | +| 密码 | wujinhui | | | +| | | | | +