def fromConfig(cls, config):
if 'camera' not in config:
return None
camera = PinholeCamera.fromConfig(config['camera'])
if camera:
monocular = MonocularWrapper()
if 'calibrator' in config:
calibrator = Calibrator.fromConfig(camera, monocular,
config['calibrator'])
else:
calibrator = Calibrator(camera, monocular)
if calibrator:
for key in cls.CONFIG_KEYS:
if key not in config:
return None
roi = config['roi']
velocitaCrociera = config['velocitaCrociera']
#Parametri opzionali
distanzaMinima = config[
'distanzaMinima'] if 'distanzaMinima' in config else None
distanzaLimite = config[
'distanzaLimite'] if 'distanzaLimite' in config else None
windowSize = config[
'windowSize'] if 'windowSize' in config else None
skipThreshold = config[
'skipThreshold'] if 'skipThreshold' in config else None
return cls(camera, monocular, calibrator, roi,
velocitaCrociera, distanzaMinima, distanzaLimite,
windowSize, skipThreshold)
