perspective_and_rotation_correction

# Rotation Correction
#
# This example shows off how to use the rotation_corr() to both correct for
# perspective distortion and then to rotate the new corrected image in 3D
# space aftwards to handle movement.

from media.camera import *
from media.display import *
from media.media import *
import time, os, gc, sys

DISPLAY_WIDTH = ALIGN_UP(1920, 16)
DISPLAY_HEIGHT = 1080
SCALE = 4
DETECT_WIDTH = DISPLAY_WIDTH // SCALE
DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE

# The image will be warped such that the following points become the new:
#
#   (0,   0)
#   (w-1, 0)
#   (w-1, h-1)
#   (0,   h-1)
#
# Try setting the points below to the corners of a quadrilateral
# (in clock-wise order) in the field-of-view. You can get points
# on the image by clicking and dragging on the frame buffer and
# recording the values shown in the histogram widget.

w = DETECT_WIDTH
h = DETECT_HEIGHT

TARGET_POINTS = [(0,   0),   # (x, y) CHANGE ME!
                 (w-1, 0),   # (x, y) CHANGE ME!
                 (w-1, h-1), # (x, y) CHANGE ME!
                 (0,   h-1)] # (x, y) CHANGE ME!

# Degrees per frame to rotation by...
X_ROTATION_DEGREE_RATE = 5
Y_ROTATION_DEGREE_RATE = 0.5
Z_ROTATION_DEGREE_RATE = 0
X_OFFSET = 0
Y_OFFSET = 0

ZOOM_AMOUNT = 1 # Lower zooms out - Higher zooms in.
FOV_WINDOW = 25 # Between 0 and 180. Represents the field-of-view of the scene
                # window when rotating the image in 3D space. When closer to
                # zero results in lines becoming straighter as the window
                # moves away from the image being rotated in 3D space. A large
                # value moves the window closer to the image in 3D space which
                # results in the more perspective distortion and sometimes
                # the image in 3D intersecting the scene window.

def camera_init():
    # use hdmi for display
    display.init(LT9611_1920X1080_30FPS)
    # config vb for osd layer
    config = k_vb_config()
    config.max_pool_cnt = 1
    config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT
    config.comm_pool[0].blk_cnt = 1
    config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE
    # meida buffer config
    media.buffer_config(config)
    # init default sensor
    camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR)
    # set chn0 output size
    camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT)
    # set chn0 output format
    camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420)
    # create meida source device
    globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0)
    # create meida sink device
    globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1)
    # create meida link
    media.create_link(meida_source, meida_sink)
    # set display plane with video channel
    display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1)
    # set chn1 output nv12
    camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT)
    camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888)
    # media buffer init
    media.buffer_init()
    # request media buffer for osd image
    globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT)
    # start stream for camera device0
    camera.start_stream(CAM_DEV_ID_0)

def camera_deinit():
    # stop stream for camera device0
    camera.stop_stream(CAM_DEV_ID_0)
    # deinit display
    display.deinit()
    os.exitpoint(os.EXITPOINT_ENABLE_SLEEP)
    time.sleep_ms(100)
    # release media buffer
    media.release_buffer(globals()["buffer"])
    # destroy media link
    media.destroy_link(globals()["meida_source"], globals()["meida_sink"])
    # deinit media buffer
    media.buffer_deinit()

def capture_picture():
    # create image for osd
    buffer = globals()["buffer"]
    osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id)
    osd_img.clear()
    display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0)
    x_rotation_counter = 0
    y_rotation_counter = 0
    z_rotation_counter = 0
    fps = time.clock()
    while True:
        fps.tick()
        try:
            os.exitpoint()
            rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1)
            img = rgb888_img.to_rgb565()
            camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img)
            img.rotation_corr(x_rotation = x_rotation_counter,
                                y_rotation = y_rotation_counter,
                                z_rotation = z_rotation_counter,
                                x_translation = X_OFFSET,
                                y_translation = Y_OFFSET,
                                zoom = ZOOM_AMOUNT,
                                fov = FOV_WINDOW,
                                corners = TARGET_POINTS)
            x_rotation_counter += X_ROTATION_DEGREE_RATE
            y_rotation_counter += Y_ROTATION_DEGREE_RATE
            z_rotation_counter += Z_ROTATION_DEGREE_RATE
            img.copy_to(osd_img)
            del img
            gc.collect()
            print(fps.fps())
        except KeyboardInterrupt as e:
            print("user stop: ", e)
            break
        except BaseException as e:
            sys.print_exception(e)
            break

def main():
    os.exitpoint(os.EXITPOINT_ENABLE)
    camera_is_init = False
    try:
        print("camera init")
        camera_init()
        camera_is_init = True
        print("camera capture")
        capture_picture()
    except Exception as e:
        sys.print_exception(e)
    finally:
        if camera_is_init:
            print("camera deinit")
            camera_deinit()

if __name__ == "__main__":
    main()

具体接口使用请参考相关文档说明：

• camere

• display

• media

• image