diff --git a/images/left.png b/images/left.png index 7989af2..5080080 100644 Binary files a/images/left.png and b/images/left.png differ diff --git a/run_calibrate_camera.py b/run_calibrate_camera.py index 1a2a055..e340626 100644 --- a/run_calibrate_camera.py +++ b/run_calibrate_camera.py @@ -180,6 +180,7 @@ def main(): else: img = buffer_manager.get_device(device).get().image if img is None: + print("读取本地相机帧失败") break diff --git a/surround_view/param_settings.py b/surround_view/param_settings.py index 6da3778..ac2376f 100644 --- a/surround_view/param_settings.py +++ b/surround_view/param_settings.py @@ -1,7 +1,6 @@ import os import cv2 - # 摄像头名称列表 camera_names = ["front", "back", "left", "right"] @@ -22,8 +21,8 @@ car_w = 300 car_h = 550 # 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 -inn_shift_h = (cal_h - 2 * conner_h - car_h)//2 +inn_shift_w = (cal_w - 2 * conner_w - car_w) // 2 +inn_shift_h = (cal_h - 2 * conner_h - car_h) // 2 # 图片的总宽度和总高度 total_w = cal_w + 2 * shift_w @@ -39,34 +38,34 @@ yb = total_h - yt # 各摄像头投影区域的尺寸 project_shapes = { - "front": (total_w, yt), # 前摄像头：(宽度, 高度) - "back": (total_w, yt), # 后摄像头：(宽度, 高度) - "left": (total_h, xl), # 左摄像头：(宽度, 高度) - "right": (total_h, xl) # 右摄像头：(宽度, 高度) + "front": (total_w, yt), # 前摄像头：(宽度, 高度) + "back": (total_w, yt), # 后摄像头：(宽度, 高度) + "left": (total_h, xl), # 左摄像头：(宽度, 高度) + "right": (total_h, xl) # 右摄像头：(宽度, 高度) } # 待选择的四个点的像素位置 # 运行 get_projection_map.py 脚本时，必须按相同顺序点击这些像素 project_keypoints = { - "front": [(shift_w + 200, shift_h), # 前摄像头的四个关键点坐标 + "front": [(shift_w + 200, shift_h), (shift_w + 2800, shift_h), (shift_w + 200, shift_h + 800), (shift_w + 2800, shift_h + 800)], - "back": [(shift_w + 80, shift_h), # 后摄像头的四个关键点坐标 - (shift_w + 320, shift_h), - (shift_w + 80, shift_h + 200), - (shift_w + 320, shift_h + 200)], + "back": [(shift_w + 200, shift_h), + (shift_w + 2800, shift_h), + (shift_w + 200, shift_h + 500), + (shift_w + 2800, shift_h + 500)], - "left": [(shift_w + 80, shift_h), # 左摄像头的四个关键点坐标 - (shift_w + 320, shift_h), - (shift_w + 80, shift_h + 200), - (shift_w + 320, shift_h + 200)], - - "right": [(shift_h + 240, shift_w), # 右摄像头的四个关键点坐标 - (shift_h + 560, shift_w), - (shift_h + 240, shift_w + 120), - (shift_h + 560, shift_w + 120)], + "left": [(shift_w + 300, shift_h), + (shift_w + 3200, shift_h), + (shift_w + 300, shift_h + 700), + (shift_w + 3200, shift_h + 700)], + + "right": [(shift_h + 500, shift_w), + (shift_h + 3300, shift_w), + (shift_h + 500, shift_w + 600), + (shift_h + 3300, shift_w + 600)], } # 读取车辆图片并调整尺寸以匹配车辆所在区域 diff --git a/surround_view/simple_gui.py b/surround_view/simple_gui.py index eb6ba61..e6e6a64 100644 --- a/surround_view/simple_gui.py +++ b/surround_view/simple_gui.py @@ -45,24 +45,11 @@ class PointSelector(object): self.window_width = image.shape[1] self.window_height = image.shape[0] self.scale = 1.0 # 缩放比例 - self.last_window_size = (self.window_width, self.window_height) def draw_image(self): """ Display the selected keypoints and draw the convex hull. """ - # 检查窗口大小是否改变 - current_width = cv2.getWindowImageRect(self.title)[2] if cv2.getWindowProperty(self.title, cv2.WND_PROP_VISIBLE) >= 1 else self.window_width - current_height = cv2.getWindowImageRect(self.title)[3] if cv2.getWindowProperty(self.title, cv2.WND_PROP_VISIBLE) >= 1 else self.window_height - - if current_width != self.last_window_size[0] or current_height != self.last_window_size[1]: - self.window_width = current_width - self.window_height = current_height - self.last_window_size = (current_width, current_height) - # 计算新的缩放比例 - self.scale = min(current_width / self.original_image.shape[1], - current_height / self.original_image.shape[0]) - # 基于当前缩放比例调整点坐标 scaled_keypoints = [ (int(x * self.scale), int(y * self.scale)) @@ -104,6 +91,14 @@ class PointSelector(object): print(f"click ({orig_x}, {orig_y}) (scaled: ({x}, {y}))") self.keypoints.append((orig_x, orig_y)) self.draw_image() + # 窗口大小改变事件 + elif event == cv2.EVENT_RESIZE: + self.window_width = x + self.window_height = y + # 计算新的缩放比例 + self.scale = min(x / self.original_image.shape[1], + y / self.original_image.shape[0]) + self.draw_image() def loop(self): """ @@ -160,4 +155,4 @@ class PointSelector(object): mask = np.array(mask, dtype=np.uint8) new_mask = cv2.bitwise_and(new_image, new_image, mask=mask) cv2.addWeighted(image, 1.0, new_mask, 0.5, 0.0, image) - return image \ No newline at end of file + return image diff --git a/yaml/back.yaml b/yaml/back.yaml index b47a239..c9c05fc 100644 --- a/yaml/back.yaml +++ b/yaml/back.yaml @@ -4,14 +4,14 @@ camera_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 9.1359191618490445e+02, 0., 1.2635952283523022e+03, 0., - 9.3632218470618568e+02, 7.3904470142576406e+02, 0., 0., 1. ] + data: [ 8.6085837664709743e+02, 0., 1.2610909633324620e+03, 0., + 8.5916628062781513e+02, 7.4679605390407391e+02, 0., 0., 1. ] dist_coeffs: !!opencv-matrix rows: 4 cols: 1 dt: d - data: [ -2.5688204048403651e-01, 1.5654636330056526e-01, - -1.7971288175677119e-01, 8.7103625346845376e-02 ] + data: [ -1.9840720995187411e-01, 4.4909756045077721e-02, + -2.1701148356244541e-02, 5.2723437035547662e-03 ] resolution: !!opencv-matrix rows: 2 cols: 1 @@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ -2.9179778642686394e-01, -7.4241907296046106e-01, - 7.9539195878902456e+02, -1.6965639676084780e-02, - -1.1036320216549194e+00, 8.9754354771952148e+02, - -2.1693275673820841e-05, -1.5407635352890023e-03, 1. ] + 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. ] scale_xy: !!opencv-matrix rows: 2 cols: 1 diff --git a/yaml/front.yaml b/yaml/front.yaml index 0591ddd..0c54878 100644 --- a/yaml/front.yaml +++ b/yaml/front.yaml @@ -4,14 +4,14 @@ camera_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 912.97883483233306, 0., 1153.06231788181, 0., - 934.30332152657456, 703.22316308984716, 0., 0., 1. ] + data: [ 8.6726608019452317e+02, 0., 1.1654823547060421e+03, 0., + 8.6642315489461635e+02, 7.0829791670122563e+02, 0., 0., 1. ] dist_coeffs: !!opencv-matrix rows: 4 cols: 1 dt: d - data: [ -0.22262094222158474, 0.091910107741035543, - -0.11125663233319319, 0.05256364519765256 ] + data: [ -2.0351195680457176e-01, 7.2366975794859609e-02, + -6.7931513547321534e-02, 2.7753672462015658e-02 ] resolution: !!opencv-matrix rows: 2 cols: 1 @@ -21,16 +21,17 @@ project_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ -5.4156645669996912, -9.3442896959392545, 7401.7924039391992, - 0.29915864114461999, -10.301469369661787, 5333.8769633702723, - 2.208437292348208e-05, -0.0050239538618510439, 1. ] + 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. ] scale_xy: !!opencv-matrix rows: 2 cols: 1 dt: f - data: [ 0.699999988, 0.800000012 ] + data: [ 6.99999988e-01, 8.00000012e-01 ] shift_xy: !!opencv-matrix rows: 2 cols: 1 dt: f - data: [ -150., -500. ] + data: [ -150., -100. ] diff --git a/yaml/left.yaml b/yaml/left.yaml index 978056a..e275504 100644 --- a/yaml/left.yaml +++ b/yaml/left.yaml @@ -4,14 +4,14 @@ camera_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 9.0580569362933545e+02, 0., 1.2526625521235414e+03, 0., - 9.0650948172469225e+02, 6.5033182889464206e+02, 0., 0., 1. ] + data: [ 8.6972545879267147e+02, 0., 1.2731530414558019e+03, 0., + 8.6863876700165883e+02, 6.9832870386138904e+02, 0., 0., 1. ] dist_coeffs: !!opencv-matrix rows: 4 cols: 1 dt: d - data: [ -2.2164953330895090e-01, 4.4177658648078696e-02, - -1.9393499331826249e-02, 6.6005226176948407e-03 ] + data: [ -1.8948663835610799e-01, 1.9444291732014014e-02, + -3.0028660958549623e-03, 9.1632974594709046e-04 ] resolution: !!opencv-matrix rows: 2 cols: 1 @@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ -5.0581752299581340e-01, -1.3713554452799930e+00, - 1.3568685515624798e+03, 1.3945277219985447e-02, - -9.3798987988477867e-01, 6.5516461320394853e+02, - -4.0658856622034665e-07, -1.7343355065690702e-03, 1. ] + 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. ] scale_xy: !!opencv-matrix rows: 2 cols: 1 diff --git a/yaml/right.yaml b/yaml/right.yaml index 032f62f..9b0e78e 100644 --- a/yaml/right.yaml +++ b/yaml/right.yaml @@ -4,14 +4,14 @@ camera_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 9.0277823073247305e+02, 0., 1.2536850522335756e+03, 0., - 8.9630980881437813e+02, 6.5471986586202775e+02, 0., 0., 1. ] + data: [ 8.7001377715765227e+02, 0., 1.2520202319593454e+03, 0., + 8.6893992064850067e+02, 6.5329143283312703e+02, 0., 0., 1. ] dist_coeffs: !!opencv-matrix rows: 4 cols: 1 dt: d - data: [ -2.1511756060462653e-01, 2.0035463501247644e-02, - 9.5960604184571630e-03, -4.4510596773296362e-03 ] + data: [ -1.8480348724697190e-01, 3.6776710909225533e-03, + 1.9908231938694565e-02, -8.8681518371373363e-03 ] resolution: !!opencv-matrix rows: 2 cols: 1 @@ -21,10 +21,10 @@ project_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ -4.4842873174953890e-01, -1.2747192546497945e+00, - 1.1617447668040295e+03, 6.6242519223062351e-03, - -1.0531016668903570e+00, 6.7139498427549870e+02, - 1.7957623585927813e-05, -1.9558863991643110e-03, 1. ] + 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. ] scale_xy: !!opencv-matrix rows: 2 cols: 1