宽体车参数修订

.idea/encodings.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Encoding">
+    <file url="file://$PROJECT_DIR$/run_get_weight_matrices.py" charset="UTF-8" />
+  </component>
+</project>

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：
 
-<img style="margin:0px auto;display:block" width=600 src="./img/choose_front.png"/>
+<img style="margin:0px auto;display:block" width=600 src="./img/choose_front.png" alt=""/>
 
 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)。
 

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")

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_w = 900
-shift_h = 300
+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_w = 1600
-car_h = 550
+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 + 200, shift_h + 700),
-              (shift_w + 2800, shift_h + 800)],
+              (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 + 200, shift_h + 700),
-             (shift_w + 2800, shift_h + 500)],
+             (shift_w + 2800, shift_h + 700)],
 
-    "left": [(shift_w + 300, shift_h),
+    "left": [(shift_w + 200, shift_h),
-             (shift_w + 3200, shift_h),
+             (shift_w + 3300, shift_h),
-             (shift_w + 300, shift_h + 700),
+             (shift_w + 200, shift_h + 600),
-             (shift_w + 3200, shift_h + 700)],
+             (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)],
 }
 

yaml/back.yaml

@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ -1.6630244936572751e+00, -2.6235622379961145e+00,
+   data: [ 4.7130092313900384e+01, 4.5706425884913429e+01,
-       3.5016508426417076e+03, -9.6185827770920898e-02,
+       -4.8632853979743268e+04, 2.0091730581034950e+00,
-       -2.4771954637838691e+00, 2.6363684218350554e+03,
+       5.9188695261792354e+01, -3.6891340693634782e+04,
-       -5.3720940146215687e-05, -1.4862196717814050e-03, 1. ]
+       -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. ]

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.,
+   data: [ 8.7564843852829847e+02, 0., 1.1587653618485392e+03, 0.,
-       8.6642315489461635e+02, 7.0829791670122563e+02, 0., 0., 1. ]
+       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,
+   data: [ -1.8577009254771773e-01, -1.2112661747599207e-02,
-       -6.7931513547321534e-02, 2.7753672462015658e-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,
+   data: [ -4.0454349692549840e+01, -3.8462399360732675e+01,
-       3.6879628012831586e+03, 6.4441326643723845e-02,
+       4.1942067316789995e+04, 1.2796393778893011e-02,
-       -3.2973218330573513e+00, 3.0848594829140279e+03,
+       -4.7794558773808895e+01, 2.9905357948844816e+04,
-       2.7252094566955889e-05, -1.6884773289497907e-03, 1. ]
+       -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. ]

yaml/left.yaml

@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ -2.0521737883395668e+00, -3.7532420536911584e+00,
+   data: [ 8.5509640434493392e+01, 1.0190846677991429e+02,
-       4.2596358822851871e+03, -2.4577314766587831e-03,
+       -9.6242835690001855e+04, -3.1764361424893210e+00,
-       -3.3960994301950915e+00, 3.0045527363823876e+03,
+       1.0352170457968155e+02, -6.0809237322321533e+04,
-       -8.1924382555303808e-06, -1.9197310294567422e-03, 1. ]
+       -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. ]

yaml/right.yaml

@@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ -1.9401318142117736e+00, -3.9568680582533751e+00,
+   data: [ -2.7248556473092950e+01, -3.4275886579619730e+01,
-       4.3374250732845567e+03, 2.2553918190428280e-02,
+       3.2783807802016345e+04, -1.2977296512114450e-01,
-       -3.0113755118912739e+00, 2.8156665747361490e+03,
+       -3.4291333987141726e+01, 2.2511924257001145e+04,
-       -1.5310504337675217e-05, -1.7968437058381963e-03, 1. ]
+       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. ]