From 9bc07d829bd2268129926c32773b177b75e32d95 Mon Sep 17 00:00:00 2001
From: zjn <zhangjianing2002@qq.com>
Date: Sun, 13 Aug 2023 10:33:01 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=91=84=E5=83=8F=E5=A4=B4?=
 =?UTF-8?q?=E5=8F=82=E6=95=B0?=
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---
 deploy/infer-onnx.py             | 14 +++++++++-----
 deploy/utils/base_model_infer.py |  4 ++--
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/deploy/infer-onnx.py b/deploy/infer-onnx.py
index aea4a10..0e9dca1 100644
--- a/deploy/infer-onnx.py
+++ b/deploy/infer-onnx.py
@@ -37,11 +37,13 @@ class Args:
 def main():
     model_infer = ONNXInfer(Args.weight_file)
 
-    camera_matrix = np.array([[309.90395107, 0.00000000e+00, 300.39021399], [0.00000000e+00, 302.16360458, 246.21441832], [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
-    distortion_coefficients = np.array([-0.32984359,  0.11556734, -0.00545855,  0.00248696, -0.01897801])
+    camera_matrix = np.array([[654.70620869, 0.00000000e+00, 620.18116133], [0.00000000e+00, 656.66098208, 433.29648979], [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
+    distortion_coefficients = np.array([-0.32841624,  0.10118464, 0.00383333,  0.00071582, -0.01392005])
 
     # cap = cv2.VideoCapture(Args.video)
     cap = cv2.VideoCapture(0)
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 960)
     skip_frame = 2  # 每隔 skip_frame 帧进行一次推理
     i = 0
     try:
@@ -66,13 +68,15 @@ def main():
             crop_h = int(img_w * 0.36) # 0.36 = 288 / 800
                                        # crop_h = 0  # 如果不裁切，可以改成 0
 
-            img = cv2.resize(frame, (img_w, img_h))
+            img=img[200:, :]
+            # img = cv2.resize(frame, (img_w, img_h))
+
             
 
             add_h = img_h - 0
             crop_img = img[add_h : img_h, :, :] # 裁切下半部分
-            img = undistort_image(frame, camera_matrix, distortion_coefficients)
-            img = img[0: img_h, :600, :]  # 裁切下半部分
+            img = undistort_image(img, camera_matrix, distortion_coefficients)
+            img = img[:, :1200, :]  # 裁切下半部分
             # img = color_extraction(img)
 
             infer_result: InferResult = model_infer.infer(img)
diff --git a/deploy/utils/base_model_infer.py b/deploy/utils/base_model_infer.py
index d6e073e..a291506 100644
--- a/deploy/utils/base_model_infer.py
+++ b/deploy/utils/base_model_infer.py
@@ -195,9 +195,9 @@ def infer(self, img: np.ndarray, is_kalman=False):
         if (left_x0 == 0 and right_x0 == 0):
             y_offset = np.int32(0)
         elif (left_x0 != 0 and right_x0 == 0):
-            y_offset = np.int32(left_x0 - 20)
+            y_offset = np.int32(left_x0 - 40)
         elif (left_x0 == 0 and right_x0 != 0):
-            y_offset = np.int32(right_x0 - 580)
+            y_offset = np.int32(right_x0 - 1160)
         else:
             y_offset = np.int32(predict_direct[0][0] - forward_direct[0][0])