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Fix: Flipped result if camera outside map

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This commit is contained in:
LmeSzinc
2020-07-08 03:54:45 +08:00
parent a902f4f0d9
commit 9c7397ddde
2 changed files with 18 additions and 15 deletions
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18
module/map_detection/perspective.py
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@@ -50,6 +50,7 @@ class Perspective:
crossings: Points
vanish_point: tuple
distant_point: tuple
map_inner: np.ndarray
def __init__(self, config):
"""
@@ -141,6 +142,7 @@ class Perspective:
# Lines cleansing
# self.draw()
self.map_inner = get_map_inner(self.crossings.points)
self.horizontal, self.lower_edge, self.upper_edge = self.line_cleanse(
self.horizontal, inner=inner_h.group(), edge=edge_h)
self.vertical, self.left_edge, self.right_edge = self.line_cleanse(
@@ -407,21 +409,7 @@ class Perspective:
edge = [c for c in clean if np.any(np.abs(c - edge) < 5)]
# Separate edges
if len(edge) == 0:
lower, upper = None, None
elif len(edge) == 1:
edge = edge[0]
if lines.is_horizontal:
lower, upper = (None, edge) if edge > self.config.SCREEN_CENTER[1] else (edge, None)
else:
lower, upper = (None, edge) if edge > self.config.SCREEN_CENTER[0] else (edge, None)
else:
# lower, upper = edge[0], edge[-1]
center = self.config.SCREEN_CENTER[1] if lines.is_horizontal else self.config.SCREEN_CENTER[0]
lower = [mid for mid in edge if mid < center]
upper = [mid for mid in edge if mid > center]
lower = lower[0] if len(lower) else None
upper = upper[-1] if len(upper) else None
lower, upper = separate_edges(edge, inner=self.map_inner[1] if lines.is_horizontal else self.map_inner[0])
# crop mid
if lower: