dsh/calibration_scan_180_360/test_mapping.py

import argparse
import json


def load_mapping(path: str):
    with open(path, 'r', encoding='utf-8') as f:
        data = json.load(f)
    pan_lookup = data['pan_lookup']
    tilt_lookup = data['tilt_lookup']

    def interp(lookup, ratio):
        if not lookup:
            return 0.0
        if len(lookup) == 1:
            return lookup[0][1]
        if ratio <= lookup[0][0]:
            return lookup[0][1]
        if ratio >= lookup[-1][0]:
            return lookup[-1][1]
        lo, hi = 0, len(lookup) - 1
        while lo < hi - 1:
            mid = (lo + hi) // 2
            if lookup[mid][0] <= ratio:
                lo = mid
            else:
                hi = mid
        x0, v0 = lookup[lo]
        x1, v1 = lookup[hi]
        if abs(x1 - x0) < 1e-10:
            return v0
        return v0 + (ratio - x0) / (x1 - x0) * (v1 - v0)

    def transform(x: int, y: int):
        x_ratio = x / 3840.0
        y_ratio = y / 1080.0
        pan = interp(pan_lookup, x_ratio) % 360
        tilt = max(-90, min(90, interp(tilt_lookup, y_ratio)))
        return pan, tilt

    return transform, data


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('--mapping', default='calibration_group1.json')
    parser.add_argument('--x', type=int, default=1920)
    parser.add_argument('--y', type=int, default=540)
    args = parser.parse_args()

    transform, data = load_mapping(args.mapping)
    pan, tilt = transform(args.x, args.y)
    print(f'Input: ({args.x}, {args.y})')
    print(f'Output: pan={pan:.2f}°, tilt={tilt:.2f}°')
    print(f'RMS error: {data.get("rms_error", -1):.2f}°')


if __name__ == '__main__':
    main()