环视运行
This commit is contained in:
165
video.py
Normal file
165
video.py
Normal file
@@ -0,0 +1,165 @@
|
||||
import cv2
|
||||
import threading
|
||||
import sys
|
||||
import os
|
||||
import argparse
|
||||
import numpy as np
|
||||
from surround_view import FisheyeCameraModel, BirdView
|
||||
import surround_view.param_settings as settings
|
||||
|
||||
|
||||
class MultiCameraBirdView:
|
||||
def __init__(self):
|
||||
self.running = True
|
||||
self.names = settings.camera_names
|
||||
self.yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in self.names]
|
||||
self.camera_models = [FisheyeCameraModel(camera_file, camera_name) for camera_file, camera_name in zip(self.yamls, self.names)]
|
||||
|
||||
# 初始化摄像头
|
||||
self.caps = []
|
||||
self.which_cameras = {
|
||||
"front": 0,
|
||||
"back": 2,
|
||||
"left": 1,
|
||||
"right": 3
|
||||
}
|
||||
|
||||
# 初始化摄像头捕获
|
||||
for name in self.names:
|
||||
cap = cv2.VideoCapture(self.which_cameras[name], cv2.CAP_ANY)
|
||||
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)
|
||||
if not cap.isOpened():
|
||||
print(f"[ERROR] Cannot open {name} camera", file=sys.stderr)
|
||||
self.running = False
|
||||
return
|
||||
self.caps.append(cap)
|
||||
|
||||
# 初始化鸟瞰图
|
||||
self.birdview = BirdView()
|
||||
|
||||
# 预先加载一次静态图像来初始化权重矩阵
|
||||
self._initialize_weights()
|
||||
|
||||
def _initialize_weights(self):
|
||||
"""使用静态图像初始化权重矩阵"""
|
||||
try:
|
||||
# 加载静态图像用于初始化权重
|
||||
images = [os.path.join(os.getcwd(), "images", name + ".png") for name in self.names]
|
||||
static_frames = []
|
||||
|
||||
for image_file, camera_model in zip(images, self.camera_models):
|
||||
img = cv2.imread(image_file)
|
||||
if img is None:
|
||||
print(f"[ERROR] Cannot load static image: {image_file}")
|
||||
continue
|
||||
img = camera_model.undistort(img)
|
||||
img = camera_model.project(img)
|
||||
img = camera_model.flip(img)
|
||||
static_frames.append(img)
|
||||
|
||||
if len(static_frames) == 4:
|
||||
# 初始化权重和掩码矩阵
|
||||
Gmat, Mmat = self.birdview.get_weights_and_masks(static_frames)
|
||||
print("[INFO] Weights and masks initialized successfully")
|
||||
else:
|
||||
print("[WARNING] Could not load all static images for weight initialization")
|
||||
except Exception as e:
|
||||
print(f"[ERROR] Failed to initialize weights: {e}", file=sys.stderr)
|
||||
|
||||
def process_frame(self, img, camera_model):
|
||||
"""处理单帧图像：去畸变 -> 投影 -> 翻转"""
|
||||
img = camera_model.undistort(img)
|
||||
img = camera_model.project(img)
|
||||
img = camera_model.flip(img)
|
||||
return img
|
||||
|
||||
def run(self):
|
||||
while self.running:
|
||||
frames = []
|
||||
for i, (cap, camera_model) in enumerate(zip(self.caps, self.camera_models)):
|
||||
ret, frame = cap.read()
|
||||
if not ret or frame is None:
|
||||
print(f"[ERROR] Failed to read frame from camera {self.names[i]}")
|
||||
continue
|
||||
processed_frame = self.process_frame(frame, camera_model)
|
||||
frames.append(processed_frame)
|
||||
|
||||
if len(frames) == 4: # 确保所有摄像头都正常工作
|
||||
try:
|
||||
# 更新鸟瞰图（权重矩阵已预先初始化）
|
||||
self.birdview.update_frames(frames)
|
||||
self.birdview.stitch_all_parts()
|
||||
self.birdview.make_white_balance()
|
||||
self.birdview.copy_car_image()
|
||||
|
||||
# 显示鸟瞰图
|
||||
birdview_display = cv2.resize(self.birdview.image, (750, 1000))
|
||||
cv2.imshow("Real-time Bird's Eye View", birdview_display)
|
||||
|
||||
if cv2.waitKey(1) & 0xFF == ord('q'):
|
||||
self.running = False
|
||||
break
|
||||
except Exception as e:
|
||||
print(f"[ERROR] Processing error: {e}", file=sys.stderr)
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
continue
|
||||
|
||||
# 释放资源
|
||||
for cap in self.caps:
|
||||
cap.release()
|
||||
cv2.destroyAllWindows()
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Real-time 4-Camera Bird's Eye View")
|
||||
parser.add_argument("--mode", type=str, required=True,
|
||||
choices=["realtime", "static"],
|
||||
help="Mode: 'realtime' for live video, 'static' for static images")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.mode == "static":
|
||||
# 原有的静态图像处理代码
|
||||
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) # 初始化权重矩阵
|
||||
birdview.update_frames(projected)
|
||||
birdview.stitch_all_parts()
|
||||
birdview.make_white_balance()
|
||||
birdview.copy_car_image()
|
||||
img_small = cv2.resize(birdview.image, (300, 600))
|
||||
cv2.imshow("BirdView Result", img_small)
|
||||
|
||||
while True:
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key == ord("q"):
|
||||
cv2.destroyAllWindows()
|
||||
return -1
|
||||
|
||||
elif args.mode == "realtime":
|
||||
# 实时视频处理
|
||||
print("Starting real-time 4-camera bird's eye view...")
|
||||
print("Press 'q' to quit")
|
||||
multi_cam = MultiCameraBirdView()
|
||||
if multi_cam.running:
|
||||
multi_cam.run()
|
||||
else:
|
||||
print("[ERROR] Failed to initialize cameras")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user