add new files

Author: neozhaoliang

get_projection_maps.py

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+"""
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Manually select points to get the projection map
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+"""
+import argparse
+import os
+import numpy as np
+import cv2
+from surround_view import FisheyeCameraModel, PointSelector, display_image
+import surround_view.param_settings as settings
+
+
+def get_projection_map(camera_model, image, dst_points):
+    image = camera_model.undistort(image)
+    gui = PointSelector(image, title=camera_model.camera_name)
+    choice = gui.loop()
+    if choice > 0:
+        src = np.float32(gui.keypoints)
+        dst = np.float32(dst_points)
+        camera_model.project_matrix = cv2.getPerspectiveTransform(src, dst)
+        image = camera_model.project(image)
+
+        ret = display_image("Bird's View", image)
+        if ret > 0:
+            return True
+        if ret < 0:
+            cv2.destroyAllWindows()
+
+    return False
+
+
+parser = argparse.ArgumentParser()
+parser.add_argument("-camera", required=True,
+                    choices=["front", "back", "left", "right"],
+                    help="The camera view to be projected")
+parser.add_argument("-scale", nargs="+", default=None,
+                    help="scale the undistorted image")
+parser.add_argument("-shift", nargs="+", default=None,
+                    help="shift the undistorted image")
+args = parser.parse_args()
+
+if args.scale is not None:
+    scale = [float(x) for x in args.scale]
+else:
+    scale = (1.0, 1.0)
+
+if args.shift is not None:
+    shift = [float(x) for x in args.shift]
+else:
+    shift = (0, 0)
+
+camera_name = args.camera
+camera_file = os.path.join(os.getcwd(), "yaml", camera_name + ".yaml")
+image_file = os.path.join(os.getcwd(), "images", camera_name + ".png")
+image = cv2.imread(image_file)
+dst_points = settings.dst_points[camera_name]
+camera = FisheyeCameraModel(camera_file, camera_name)
+camera.set_scale_and_shift(scale, shift)
+success = get_projection_map(camera, image, dst_points)
+if success:
+    print("saving projection matrix to yaml")
+
+else:
+    print("failed to compute the projection map")

get_weight_matrices.py

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+import os
+import numpy as np
+import cv2
+from PIL import Image
+from surround_view import FisheyeCameraModel, display_image, BirdView
+
+
+names = ["front", "back", "left", "right"]
+images = [os.path.join(os.getcwd(), "images", name + ".png") for name in names]
+yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in names]
+camera_models = [FisheyeCameraModel(camera_file, camera_name)
+                 for camera_file, camera_name in zip (yamls, names)]
+
+projected = []
+for image_file, camera in zip(images, camera_models):
+    img = cv2.imread(image_file)
+    img = camera.undistort(img)
+    img = camera.project(img)
+    img = camera.flip(img)
+    projected.append(img)
+
+birdview = BirdView()
+Gmat, Mmat = birdview.get_weights(projected)
+projected2 = birdview.make_luminance_balance(projected)
+birdview.stitch_all_parts(projected2)
+birdview.make_white_balance()
+birdview.copy_car_image()
+ret = display_image("BirdView Result", birdview.image)
+if ret > 0:
+    Image.fromarray((Gmat * 255).astype(np.uint8)).save("weights.png")
+    Image.fromarray(Mmat.astype(np.uint8)).save("masks.png")

images/back.png

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+from .fisheye_camera import FisheyeCameraModel
+from .birdview import BirdView
+from .gui import display_image, PointSelector