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环视 分屏

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路怀帅
2025-12-20 10:10:10 +08:00
parent 86df465b15
commit ad3feb2c75
11 changed files with 274 additions and 2 deletions
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model/anchors_yolov5.txt Normal file
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model/coco_80_labels_list.txt Normal file
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person
bicycle
car
motorcycle
airplane
bus
train
truck
boat
traffic light
fire hydrant
stop sign
parking meter
bench
bird
cat
dog
horse
sheep
cow
elephant
bear
zebra
giraffe
backpack
umbrella
handbag
tie
suitcase
frisbee
skis
snowboard
sports ball
kite
baseball bat
baseball glove
skateboard
surfboard
tennis racket
bottle
wine glass
cup
fork
knife
spoon
bowl
banana
apple
sandwich
orange
broccoli
carrot
hot dog
pizza
donut
cake
chair
couch
potted plant
bed
dining table
toilet
tv
laptop
mouse
remote
keyboard
cell phone
microwave
oven
toaster
sink
refrigerator
book
clock
vase
scissors
teddy bear
hair drier
toothbrush

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model/download_model.sh Normal file
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wget -O ./yolov5s_relu.onnx https://ftrg.zbox.filez.com/v2/delivery/data/95f00b0fc900458ba134f8b180b3f7a1/examples/yolov5/yolov5s_relu.onnx

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templates/index.html Normal file
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<!DOCTYPE html>
<html>
<head><title>Surround View System</title></head>
<body style="background:#111;color:white;text-align:center;">
<h2>🚗 四路摄像头 + 环视鸟瞰图</h2>
<div>
<h3>四路分屏</h3>
<img src="/video_feed_original" width="800"/>
</div>
<div style="margin-top:20px;">
<h3>鸟瞰图 (Bird's Eye View)</h3>
<img src="/video_feed_birdview" width="500"/>
</div>
<p>按 Ctrl+C 停止服务 | 账号: admin / 密码: password123</p>
</body>
</html>

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video.py
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@@ -7,7 +7,6 @@ import numpy as np
from surround_view import FisheyeCameraModel, BirdView from surround_view import FisheyeCameraModel, BirdView
import surround_view.param_settings as settings import surround_view.param_settings as settings
class MultiCameraBirdView: class MultiCameraBirdView:
def __init__(self): def __init__(self):
self.running = True self.running = True
@@ -138,7 +137,7 @@ def main():
birdview = BirdView() birdview = BirdView()
Gmat, Mmat = birdview.get_weights_and_masks(projected) # 初始化权重矩阵 Gmat, Mmat = birdview.get_weights_and_masks(projected) # 初始化权重矩阵
birdview.update_frames(projected) birdview.update_frames(projected)
birdview.stitch_all_parts() birdview.get_weights_and_masks.stitch_all_parts()
birdview.make_white_balance() birdview.make_white_balance()
birdview.copy_car_image() birdview.copy_car_image()
img_small = cv2.resize(birdview.image, (300, 600)) img_small = cv2.resize(birdview.image, (300, 600))

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# 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()

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