环视 分屏

web.py

@@ -0,0 +1,156 @@
+# from turtle import right
+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
+
+right_frame = None
+
+class MultiCameraBirdView:
+    def __init__(self):
+        self.running = True
+        self.names = settings.camera_names  # e.g., ['front', 'back', 'left', 'right']
+        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)
+        ]
+        
+        # 摄像头设备映射
+        self.which_cameras = {"front": 0, "back": 2, "left": 1, "right": 3}
+        self.caps = []
+
+        print("[INFO] 初始化摄像头...")
+        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)
+            cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)  # 最小缓冲，降低延迟
+            if not cap.isOpened():
+                print(f"[ERROR] 无法打开 {name} 摄像头 (设备 {self.which_cameras[name]})", file=sys.stderr)
+                self.running = False
+                return
+            self.caps.append(cap)
+        
+        self.birdview = BirdView()
+        self._initialize_weights()
+
+    def _initialize_weights(self):
+        try:
+            images = [os.path.join(os.getcwd(), "images", name + ".png") for name in self.names]
+            static_frames = []
+            for img_path, cam_model in zip(images, self.camera_models):
+                img = cv2.imread(img_path)
+                if img is None:
+                    print(f"[WARN] 静态图缺失: {img_path}，用黑图代替")
+                    img = np.zeros((1080, 1920, 3), dtype=np.uint8)
+                img = cam_model.undistort(img)
+                img = cam_model.project(img)
+                img = cam_model.flip(img)
+                static_frames.append(img)
+            if len(static_frames) == 4:
+                self.birdview.get_weights_and_masks(static_frames)
+                print("[INFO] 权重矩阵初始化成功")
+        except Exception as e:
+            print(f"[ERROR] 权重初始化失败: {e}", file=sys.stderr)
+
+    def process_frame_once(self, frame, model):
+        """只处理一次：去畸变 + 投影 + 翻转"""
+        frame = model.undistort(frame)
+        frame = model.project(frame)
+        frame = model.flip(frame)
+        return frame
+
+    def process_frame_undistort(self, frame, model):
+        """只处理一次：去畸变 + 投影 + 翻转"""
+        frame = model.undistort(frame)
+        # frame = model.project(frame)
+        # frame = model.flip(frame)
+        return frame
+
+    def run(self):
+        current_view = "front"  # 默认显示前视图
+
+        while self.running:
+            raw_frames = {}
+            processed_frames = []
+            valid = True
+
+            # 读取并处理所有摄像头帧
+            for i, (cap, model, name) in enumerate(zip(self.caps, self.camera_models, self.names)):
+                ret, frame = cap.read()
+                if not ret or frame is None:
+                    print(f"[WARN] 跳过 {name} 帧")
+                    valid = False
+                    break
+                # 保存原始帧（用于右侧显示）
+                raw_frames[name] = frame.copy()
+                # 处理用于鸟瞰图的帧
+                p_frame = self.process_frame_once(frame, model)
+                processed_frames.append(p_frame)
+
+            if not valid or len(processed_frames) != 4:
+                continue
+
+            # 更新鸟瞰图
+            self.birdview.update_frames(processed_frames)
+            self.birdview.stitch_all_parts()
+            self.birdview.make_white_balance()
+            self.birdview.copy_car_image()
+
+            # 获取当前选中的单路图像（已校正）
+            single_img = self.process_frame_undistort(raw_frames[current_view], self.camera_models[self.names.index(current_view)])
+            birdview_img = self.birdview.image
+
+            # 拼接显示：左侧鸟瞰图（1/3），右侧单路（2/3）
+            h_display, w_display = 720, 1280
+            w_bird = w_display // 3
+            w_single = w_display - w_bird
+
+            bird_resized = cv2.resize(birdview_img, (w_bird, h_display))
+            single_resized = cv2.resize(single_img, (w_single, h_display))
+            display = np.hstack((bird_resized, single_resized))
+
+
+
+            cv2.namedWindow('Video', cv2.WND_PROP_FULLSCREEN)
+            cv2.setWindowProperty('Video', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
+            cv2.imshow("Video", display)
+
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord('q'):
+                self.running = False
+                break
+            elif key == ord('1'):
+                current_view = "front"
+            elif key == ord('2'):
+                current_view = "back"
+            elif key == ord('3'):
+                current_view = "left"
+            elif key == ord('4'):
+                current_view = "right"
+
+        # 释放资源
+        for cap in self.caps:
+            cap.release()
+        cv2.destroyAllWindows()
+
+
+def main():
+    print("🚀 启动实时四路环视系统...")
+    print("操作说明:")
+    print("  1 - 前视图 | 2 - 后视图 | 3 - 左视图 | 4 - 右视图")
+    print("  q - 退出程序")
+    multi_cam = MultiCameraBirdView()
+    if multi_cam.running:
+        multi_cam.run()
+    else:
+        print("[ERROR] 摄像头初始化失败")
+
+if __name__ == "__main__":
+    main()