init

surround_view/param_settings.py

@@ -0,0 +1,63 @@
+import os
+import cv2
+
+
+camera_names = ["front", "back", "left", "right"]
+
+# --------------------------------------------------------------------
+# (shift_width, shift_height): how far away the birdview looks outside
+# of the calibration pattern in horizontal and vertical directions
+shift_w = 300
+shift_h = 300
+
+# size of the gap between the calibration pattern and the car
+# in horizontal and vertical directions
+inn_shift_w = 20
+inn_shift_h = 50
+
+# total width/height of the stitched image
+total_w = 800 + 2 * shift_w
+total_h = 960 + 2 * shift_h
+
+# four corners of the rectangular region occupied by the car
+# top-left (x_left, y_top), bottom-right (x_right, y_bottom)
+xl = shift_w + 180 + inn_shift_w
+xr = total_w - xl
+yt = shift_h + 200 + inn_shift_h
+yb = total_h - yt
+# --------------------------------------------------------------------
+
+project_shapes = {
+    "front": (total_w, yt),
+    "back":  (total_w, yt),
+    "left":  (total_h, xl),
+    "right": (total_h, xl)
+}
+
+# pixel locations of the four points to be chosen.
+# you must click these pixels in the same order when running
+# the get_projection_map.py script
+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)],
+
+    "back":  [(shift_w + 80, shift_h),
+              (shift_w + 320, shift_h),
+              (shift_w + 80, shift_h + 200),
+              (shift_w + 320, shift_h + 200)],
+
+    "left": [(shift_w + 80, shift_h),
+              (shift_w + 320, shift_h),
+              (shift_w + 80, shift_h + 200),
+              (shift_w + 320, shift_h + 200)],
+              
+    "right":  [(shift_h + 240, shift_w),
+              (shift_h + 560, shift_w),
+              (shift_h + 240, shift_w + 120),
+              (shift_h + 560, shift_w + 120)],
+}
+
+car_image = cv2.imread(os.path.join(os.getcwd(), "images", "car.png"))
+car_image = cv2.resize(car_image, (xr - xl, yb - yt))