环视运行

surround_view/fisheye_camera.py

@@ -92,7 +92,7 @@ class FisheyeCameraModel(object):
             return cv2.transpose(image)[::-1]
 
         else:
-            return cv2.transpose(image)[::-1]
+            return cv2.transpose(image)[:,::-1]
 
     def save_data(self):
         fs = cv2.FileStorage(self.camera_file, cv2.FILE_STORAGE_WRITE)

surround_view/param_settings.py

@@ -6,22 +6,24 @@ camera_names = ["front", "back", "left", "right"]
 
 # --------------------------------------------------------------------
 # (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
+shift_w = 100
+shift_h = 100
+
 
 # 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
+inn_shift_h = 20
 
 # 拼接图像的总宽度/高度
-total_w = 600 + 2 * shift_w
-total_h = 1000 + 2 * shift_h
+total_w = 300 + 2 * shift_w
+total_h = 350 + 2 * shift_h
 
-# 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
+
+# 计算车辆在全景图中的位置
+xl = shift_w + 45 + inn_shift_w
 xr = total_w - xl
-yt = shift_h + 200 + inn_shift_h
+print(xl, xr)
+yt = shift_h + 60 + inn_shift_h
 yb = total_h - yt
 # --------------------------------------------------------------------
 
@@ -32,29 +34,28 @@ project_shapes = {
     "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
+# 要选取的四个像素点的位置。
+# 运行 get_projection_map.py 脚本时，必须按相同顺序点击这些像素点。
 project_keypoints = {
-    "front": [(shift_w + 120, shift_h),
-              (shift_w + 480, shift_h),
-              (shift_w + 120, shift_h + 160),
-              (shift_w + 480, shift_h + 160)],
+    "front": [(shift_w + 0, shift_h),
+              (shift_w + 300, shift_h),
+              (shift_w + 0, shift_h + 60),
+              (shift_w + 300, shift_h + 60)],
 
-    "back":  [(shift_w + 120, shift_h),
-              (shift_w + 480, shift_h),
-              (shift_w + 120, shift_h + 160),
-              (shift_w + 480, shift_h + 160)],
+    "back":  [(shift_w + 0, shift_h),
+              (shift_w + 300, shift_h),
+              (shift_w + 0, shift_h + 80),
+              (shift_w + 300, shift_h + 80)],
 
-    "left":  [(shift_h + 280, shift_w),
-              (shift_h + 840, shift_w),
-              (shift_h + 280, shift_w + 160),
-              (shift_h + 840, shift_w + 160)],
+    "left":  [(shift_h + 0, shift_w),
+              (shift_h + 350, shift_w),
+              (shift_h + 0, shift_w + 50),
+              (shift_h + 350, shift_w + 50)],
 
-    "right": [(shift_h + 160, shift_w),
-              (shift_h + 720, shift_w),
-              (shift_h + 160, shift_w + 160),
-              (shift_h + 720, shift_w + 160)]
+    "right": [(shift_h + 0, shift_w),
+              (shift_h + 350, shift_w),
+              (shift_h + 0, shift_w + 50),
+              (shift_h + 350, shift_w + 50)]
 }
 
 car_image = cv2.imread(os.path.join(os.getcwd(), "images", "car.png"))