diff --git a/images/right.png b/images/right.png index 6efcefa..812f51c 100644 Binary files a/images/right.png and b/images/right.png differ diff --git a/saveimg.py b/saveimg.py index d65c498..b593842 100644 --- a/saveimg.py +++ b/saveimg.py @@ -14,16 +14,36 @@ import numpy as np frame = None running = True which_camera = 0 - +W, H = 1920, 1080 # 相机分辨率 # 加载鱼眼相机参数 + +# Front 参数 +# K = np.array([[ 5.3382445956203196e+02, 0., 9.7253025945442369e+02], +# [0., 5.3393792084343488e+02, 5.6249605531924215e+02], +# [ 0., 0., 1. ]]) + +# D = np.array([ -1.5749135021037808e-02, 2.9390620422222835e-03, +# -4.3176357910129585e-03, 1.3296605027646462e-03 ]) + +# Right 参数 K = np.array([[5.3402108990030604e+02, 0., 9.2598444295282172e+02], [0., 5.3455325152709827e+02, 5.7771767919091610e+02], [0., 0., 1.]]) D = np.array([-1.8724887233075402e-02, 6.4408558584901701e-03, -5.2069636709412993e-03, 8.4815411645490968e-04]) -W, H = 1920, 1080 +# 加载透视变换参数 +# Right 参数 +front_proj_matrix = np.array([ + [-4.5788125154634862e-01, -2.4847281172116515e+00, 1.1901356339453334e+03], + [7.0190114936088524e-02, -2.2880693827869965e+00, 1.0012772462548877e+03], + [1.4549566908718078e-04, -3.4392525895003334e-03, 1.0] +]) + +# 这些参数在 surround_view 中用于 set_scale_and_shift +scale_xy = np.array([6.99999988e-01, 8.00000012e-01]) # x, y 缩放比例 +shift_xy = np.array([-80., -200.]) # x, y 偏移量 (像素) def video_thread(): @@ -32,14 +52,24 @@ def video_thread(): cap.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*"YUYV")) cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920) cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080) - # cap.set(cv2.CAP_PROP_FPS, 30) if not cap.isOpened(): print("[ERROR] Cannot open camera", file=sys.stderr) running = False return - # 鱼眼相机去畸变 - map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2) + + modified_camera_matrix = K.copy() + modified_camera_matrix[0, 0] *= scale_xy[0] # fx *= scale_x + modified_camera_matrix[1, 1] *= scale_xy[1] # fy *= scale_y + modified_camera_matrix[0, 2] += shift_xy[0] # cx += shift_x + modified_camera_matrix[1, 2] += shift_xy[1] # cy += shift_y + + # 鱼眼相机去畸变 合并缩放系数 + map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), modified_camera_matrix, (W, H), cv2.CV_16SC2) + + # 鱼眼相机仅畸变 + map3, map4 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2) + while running: ret, f = cap.read() @@ -47,10 +77,27 @@ def video_thread(): break # 图像去畸变 - undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) - # 拼接原视频和抗畸变后的视频 （左右显示） - comparison = np.hstack((f, undistorted)) + undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) + undistorted2 = cv2.remap(f, map3, map4, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) + + + proj_image = cv2.warpPerspective( + undistorted, + front_proj_matrix, + (W, H), # 输出大小 (与原始分辨率一致) + borderMode=cv2.BORDER_CONSTANT, + borderValue=(0, 0, 0) + ) + + frame = f.copy() + birdseye_small = cv2.resize(f, (W//2, H//2)) + undistorted2_small = cv2.resize(undistorted2, (W//2, H//2)) + + # 拼接原视频和抗畸变后的视频 （左右显示） + comparison = np.hstack((birdseye_small, undistorted2_small)) + show_video = np.vstack((comparison, proj_image)) + scale = min(1920 / comparison.shape[1], 1080 / comparison.shape[0]) if scale < 1: comparison = cv2.resize(comparison, (int(comparison.shape[1] * scale), int(comparison.shape[0] * scale))) @@ -63,7 +110,7 @@ def video_thread(): cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN) cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN) - cv2.imshow('Video old vs new', comparison) + cv2.imshow('Video old vs new', show_video) if cv2.waitKey(1) & 0xFF == ord('q'): running = False @@ -74,14 +121,14 @@ def video_thread(): def input_thread(): global running - print("Commands: 's' = screenshot, 'q' = quit") + print("SSH命令: 's' = 截图, 'q' = 退出") while running: try: cmd = input().strip().lower() if cmd == 's': if frame is not None: - filename = f"./save_img/shot_{datetime.now().strftime('%Y%m%d_%H%M%S')}.jpg" - cv2.imwrite(filename, frame) + filename = f"./images/{args.i.lower()}.png" + cv2.imwrite(filename, frame) print(f"[SSH] Saved: {os.path.abspath(filename)}") else: print("[SSH] No frame available yet.") diff --git a/surround_view/__pycache__/param_settings.cpython-38.pyc b/surround_view/__pycache__/param_settings.cpython-38.pyc index dd5a42a..6135477 100644 Binary files a/surround_view/__pycache__/param_settings.cpython-38.pyc and b/surround_view/__pycache__/param_settings.cpython-38.pyc differ diff --git a/surround_view/param_settings.py b/surround_view/param_settings.py index b65b933..1050512 100644 --- a/surround_view/param_settings.py +++ b/surround_view/param_settings.py @@ -5,22 +5,20 @@ 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_width, shift_height): 鸟瞰图在水平和垂直方向上超出标定图案的距离 shift_w = 300 shift_h = 300 -# size of the gap between the calibration pattern and the car -# in horizontal and vertical directions +# 标定图案与车辆之间在水平和垂直方向上的间隙大小 inn_shift_w = 20 inn_shift_h = 50 -# total width/height of the stitched image +# 拼接图像的总宽度/高度 total_w = 600 + 2 * shift_w total_h = 1000 + 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) +# 车辆所占矩形区域的四个角点 +# 左上角 (x_left, y_top)，右下角 (x_right, y_bottom) xl = shift_w + 180 + inn_shift_w xr = total_w - xl yt = shift_h + 200 + inn_shift_h diff --git a/yaml/right.yaml b/yaml/right.yaml index 0a362e7..4929e3f 100644 --- a/yaml/right.yaml +++ b/yaml/right.yaml @@ -1,10 +1,5 @@ %YAML:1.0 --- -resolution: !!opencv-matrix - rows: 2 - cols: 1 - dt: i - data: [ 1920, 1080 ] camera_matrix: !!opencv-matrix rows: 3 cols: 3 @@ -17,3 +12,27 @@ dist_coeffs: !!opencv-matrix dt: d data: [ -1.8724887233075402e-02, 6.4408558584901701e-03, -5.2069636709412993e-03, 8.4815411645490968e-04 ] +resolution: !!opencv-matrix + rows: 2 + cols: 1 + dt: i + data: [ 1920, 1080 ] + +project_matrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ -4.5788125154634862e-01, -2.4847281172116515e+00, + 1.1901356339453334e+03, 7.0190114936088524e-02, + -2.2880693827869965e+00, 1.0012772462548877e+03, + 1.4549566908718078e-04, -3.4392525895003334e-03, 1. ] +scale_xy: !!opencv-matrix + rows: 2 + cols: 1 + dt: f + data: [ 6.99999988e-01, 8.00000012e-01 ] +shift_xy: !!opencv-matrix + rows: 2 + cols: 1 + dt: f + data: [ -80., -200. ]