init

run_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
+import surround_view.param_settings as settings
+
+
+def main():
+    names = settings.camera_names
+    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_and_masks(projected)
+    birdview.update_frames(projected)
+    birdview.make_luminance_balance().stitch_all_parts()
+    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")
+
+
+if __name__ == "__main__":
+    main()