Пример #1
0
    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)