单目测距——寻找最佳安装高度H与俯仰角erfa

最新推荐文章于 2023-09-26 14:14:33 发布

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最新推荐文章于 2023-09-26 14:14:33 发布

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分类专栏：自动驾驶文章标签：单目测距安装高度俯仰角

本文链接：https://blog.csdn.net/qq_18894441/article/details/102959051

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本文探讨了单目测距系统的安装优化，主要聚焦于确定最佳的安装高度H和俯仰角erfa。通过精确调整这些参数，可以提升测距的精度和可靠性。

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#!/usr/bin/env python 
import math
from operator import itemgetter

u0 = 961.97416
v0 = 687.53441
fx = 1857.481736
fy = 1872.211946

H_list = [1.3, 1.31, 1.32, 1.33, 1.34, 1.35, 1.36, 1.37, 1.38, 1.39, 1.40, 1.41, 1.42, 1.43, 1.44, 1.45, 1.46, 1.47, 1.48, 1.49, 1.50,1.51,1.52,1.53,1.54,1.55,1.6,1.8,2]
erfa_list = [5, 5.2, 5.4, 5.6, 5.8 ,6, 6.2 ,6.4 ,6.6, 6.8, 7, 7.2, 7.4 ,7.6 ,7.8, 8, 8.2 ,8.4, 8.6, 8.8, 9, 9.2, 9.4,  9.6, 9.8, 10,10.2,10.4]
uvxy = [[610,588,20,3], [511,632,15,3], [338,716,10,3], [487,992,5,0.92], [666,730,10,0.92], [731,636,15,0.92], [766,589,20,0.92], [826,1024,5,0], [849,731,10,0] ]
#uvxy = [[603,588,20,3],[498,635,15,3],[290,732,5,3],[820,1050,5,0],[846,732,10,0],[450,1030,5,0.92],[659,733,10,0.92],[730,638,15,0.92],[763,568,20,0.92]]
#H_list =[1.44]
#erfa_list =[7.6]
def cha(y,x,Y,X):
    cha_temp = math.pow((y-Y),2) + math.pow((x-X),2)
    return cha_temp

result_i_sum_alls = []
for erfa_ in range(len