diff --git a/.idea/encodings.xml b/.idea/encodings.xml
new file mode 100644
index 0000000..63a873d
--- /dev/null
+++ b/.idea/encodings.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/doc/doc.md b/doc/doc.md
index e00eb4c..424ff3f 100644
--- a/doc/doc.md
+++ b/doc/doc.md
@@ -132,7 +132,7 @@ python run_get_projection_maps.py -camera front -scale 0.7 0.8 -shift -150 -100
然后依次点击事先确定好的四个标志点 (顺序不能错！)，得到的效果如下：
-
+
注意标志点的设置代码在[这里](https://github.com/neozhaoliang/surround-view-system-introduction/blob/master/surround_view/param_settings.py#L40)。
diff --git a/images/back.png b/images/back.png
index 826ec4a..23702ac 100644
Binary files a/images/back.png and b/images/back.png differ
diff --git a/images/front.png b/images/front.png
index d0ce919..da3cd9b 100644
Binary files a/images/front.png and b/images/front.png differ
diff --git a/images/left.png b/images/left.png
index 5080080..02fdf5b 100644
Binary files a/images/left.png and b/images/left.png differ
diff --git a/images/right.png b/images/right.png
index 8bcce32..556d915 100644
Binary files a/images/right.png and b/images/right.png differ
diff --git a/run_get_weight_matrices.py b/run_get_weight_matrices.py
index a38dd30..d23d64f 100644
--- a/run_get_weight_matrices.py
+++ b/run_get_weight_matrices.py
@@ -26,7 +26,7 @@ def main():
birdview.make_luminance_balance().stitch_all_parts()
birdview.make_white_balance()
birdview.copy_car_image()
- ret = display_image("BirdView Result", birdview.image)
+ ret = display_image("360 bird look", birdview.image)
if ret > 0:
Image.fromarray((Gmat * 255).astype(np.uint8)).save("weights.png")
Image.fromarray(Mmat.astype(np.uint8)).save("masks.png")
diff --git a/surround_view/param_settings.py b/surround_view/param_settings.py
index ac2376f..c5322b0 100644
--- a/surround_view/param_settings.py
+++ b/surround_view/param_settings.py
@@ -5,8 +5,8 @@ import cv2
camera_names = ["front", "back", "left", "right"]
# 标定布向外扩展的尺寸，单位为像素，默认不修改
-shift_w = 300
-shift_h = 300
+shift_w = 900
+shift_h = 900
# 标定布的长和宽
cal_w = 3000
@@ -17,8 +17,8 @@ conner_w = 1000
conner_h = 1000
# 车辆的长和宽
-car_w = 300
-car_h = 550
+car_w = 1600
+car_h = 2000
# 车辆与标定布指定四角之间的间隙
inn_shift_w = (cal_w - 2 * conner_w - car_w) // 2
@@ -49,22 +49,22 @@ project_shapes = {
project_keypoints = {
"front": [(shift_w + 200, shift_h),
(shift_w + 2800, shift_h),
- (shift_w + 200, shift_h + 800),
- (shift_w + 2800, shift_h + 800)],
+ (shift_w + 200, shift_h + 700),
+ (shift_w + 2800, shift_h + 700)],
"back": [(shift_w + 200, shift_h),
(shift_w + 2800, shift_h),
- (shift_w + 200, shift_h + 500),
- (shift_w + 2800, shift_h + 500)],
+ (shift_w + 200, shift_h + 700),
+ (shift_w + 2800, shift_h + 700)],
- "left": [(shift_w + 300, shift_h),
- (shift_w + 3200, shift_h),
- (shift_w + 300, shift_h + 700),
- (shift_w + 3200, shift_h + 700)],
+ "left": [(shift_w + 200, shift_h),
+ (shift_w + 3300, shift_h),
+ (shift_w + 200, shift_h + 600),
+ (shift_w + 3300, shift_h + 600)],
- "right": [(shift_h + 500, shift_w),
+ "right": [(shift_h + 200, shift_w),
(shift_h + 3300, shift_w),
- (shift_h + 500, shift_w + 600),
+ (shift_h + 200, shift_w + 600),
(shift_h + 3300, shift_w + 600)],
}
diff --git a/yaml/back.yaml b/yaml/back.yaml
index c9c05fc..862ad4d 100644
--- a/yaml/back.yaml
+++ b/yaml/back.yaml
@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
- data: [ -1.6630244936572751e+00, -2.6235622379961145e+00,
- 3.5016508426417076e+03, -9.6185827770920898e-02,
- -2.4771954637838691e+00, 2.6363684218350554e+03,
- -5.3720940146215687e-05, -1.4862196717814050e-03, 1. ]
+ data: [ 4.7130092313900384e+01, 4.5706425884913429e+01,
+ -4.8632853979743268e+04, 2.0091730581034950e+00,
+ 5.9188695261792354e+01, -3.6891340693634782e+04,
+ -1.0383730105240072e-04, 1.9380884145387894e-02, 1. ]
scale_xy: !!opencv-matrix
rows: 2
cols: 1
@@ -34,4 +34,4 @@ shift_xy: !!opencv-matrix
rows: 2
cols: 1
dt: f
- data: [ -150., -100. ]
+ data: [ -150., -220. ]
diff --git a/yaml/front.yaml b/yaml/front.yaml
index 0c54878..04a06e9 100644
--- a/yaml/front.yaml
+++ b/yaml/front.yaml
@@ -4,14 +4,14 @@ camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
- data: [ 8.6726608019452317e+02, 0., 1.1654823547060421e+03, 0.,
- 8.6642315489461635e+02, 7.0829791670122563e+02, 0., 0., 1. ]
+ data: [ 8.7564843852829847e+02, 0., 1.1587653618485392e+03, 0.,
+ 8.7392998079840913e+02, 7.1928969544949632e+02, 0., 0., 1. ]
dist_coeffs: !!opencv-matrix
rows: 4
cols: 1
dt: d
- data: [ -2.0351195680457176e-01, 7.2366975794859609e-02,
- -6.7931513547321534e-02, 2.7753672462015658e-02 ]
+ data: [ -1.8577009254771773e-01, -1.2112661747599207e-02,
+ 3.8920501515379735e-02, -1.5534566103624418e-02 ]
resolution: !!opencv-matrix
rows: 2
cols: 1
@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
- data: [ -1.7621178147029364e+00, -3.1225515440046361e+00,
- 3.6879628012831586e+03, 6.4441326643723845e-02,
- -3.2973218330573513e+00, 3.0848594829140279e+03,
- 2.7252094566955889e-05, -1.6884773289497907e-03, 1. ]
+ data: [ -4.0454349692549840e+01, -3.8462399360732675e+01,
+ 4.1942067316789995e+04, 1.2796393778893011e-02,
+ -4.7794558773808895e+01, 2.9905357948844816e+04,
+ -7.9780705064873378e-04, -1.6453197618009299e-02, 1. ]
scale_xy: !!opencv-matrix
rows: 2
cols: 1
@@ -34,4 +34,4 @@ shift_xy: !!opencv-matrix
rows: 2
cols: 1
dt: f
- data: [ -150., -100. ]
+ data: [ -150., -220. ]
diff --git a/yaml/left.yaml b/yaml/left.yaml
index e275504..c45da86 100644
--- a/yaml/left.yaml
+++ b/yaml/left.yaml
@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
- data: [ -2.0521737883395668e+00, -3.7532420536911584e+00,
- 4.2596358822851871e+03, -2.4577314766587831e-03,
- -3.3960994301950915e+00, 3.0045527363823876e+03,
- -8.1924382555303808e-06, -1.9197310294567422e-03, 1. ]
+ data: [ 8.5509640434493392e+01, 1.0190846677991429e+02,
+ -9.6242835690001855e+04, -3.1764361424893210e+00,
+ 1.0352170457968155e+02, -6.0809237322321533e+04,
+ -8.1404947594278059e-04, 3.7945941299093379e-02, 1. ]
scale_xy: !!opencv-matrix
rows: 2
cols: 1
@@ -34,4 +34,4 @@ shift_xy: !!opencv-matrix
rows: 2
cols: 1
dt: f
- data: [ -150., -100. ]
+ data: [ -150., -220. ]
diff --git a/yaml/right.yaml b/yaml/right.yaml
index 9b0e78e..d98dc3e 100644
--- a/yaml/right.yaml
+++ b/yaml/right.yaml
@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
- data: [ -1.9401318142117736e+00, -3.9568680582533751e+00,
- 4.3374250732845567e+03, 2.2553918190428280e-02,
- -3.0113755118912739e+00, 2.8156665747361490e+03,
- -1.5310504337675217e-05, -1.7968437058381963e-03, 1. ]
+ data: [ -2.7248556473092950e+01, -3.4275886579619730e+01,
+ 3.2783807802016345e+04, -1.2977296512114450e-01,
+ -3.4291333987141726e+01, 2.2511924257001145e+04,
+ 1.8315529141828271e-04, -1.2957104293237372e-02, 1. ]
scale_xy: !!opencv-matrix
rows: 2
cols: 1
@@ -34,4 +34,4 @@ shift_xy: !!opencv-matrix
rows: 2
cols: 1
dt: f
- data: [ -150., -100. ]
+ data: [ -150., -220. ]