init

run_get_projection_maps.py

@@ -0,0 +1,71 @@
+"""
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+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):
+    und_image = camera_model.undistort(image)
+    name = camera_model.camera_name
+    gui = PointSelector(und_image, title=name)
+    dst_points = settings.project_keypoints[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)
+        proj_image = camera_model.project(und_image)
+
+        ret = display_image("Bird's View", proj_image)
+        if ret > 0:
+            return True
+        if ret < 0:
+            cv2.destroyAllWindows()
+
+    return False
+
+
+def main():
+    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)
+    camera = FisheyeCameraModel(camera_file, camera_name)
+    camera.set_scale_and_shift(scale, shift)
+    success = get_projection_map(camera, image)
+    if success:
+        print("saving projection matrix to yaml")
+        camera.save_data()
+    else:
+        print("failed to compute the projection map")
+
+
+if __name__ == "__main__":
+    main()