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run_live_demo.py

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+import os
+import cv2
+from surround_view import CaptureThread, CameraProcessingThread
+from surround_view import FisheyeCameraModel, BirdView
+from surround_view import MultiBufferManager, ProjectedImageBuffer
+import surround_view.param_settings as settings
+
+
+yamls_dir = os.path.join(os.getcwd(), "yaml")
+camera_ids = [0, 1, 2, 3]
+flip_methods = [0, 2, 0, 2]
+names = settings.camera_names
+cameras_files = [os.path.join(yamls_dir, name + ".yaml") for name in names]
+camera_models = [FisheyeCameraModel(camera_file, name) for camera_file, name in zip(cameras_files, names)]
+
+
+def main():
+    capture_tds = [CaptureThread(camera_id, flip_method)
+                   for camera_id, flip_method in zip(camera_ids, flip_methods)]
+    capture_buffer_manager = MultiBufferManager()
+    for td in capture_tds:
+        capture_buffer_manager.bind_thread(td, buffer_size=8)
+        if (td.connect_camera()):
+            td.start()
+
+    proc_buffer_manager = ProjectedImageBuffer()
+    process_tds = [CameraProcessingThread(capture_buffer_manager,
+                                          camera_id,
+                                          camera_model)
+                   for camera_id, camera_model in zip(camera_ids, camera_models)]
+    for td in process_tds:
+        proc_buffer_manager.bind_thread(td)
+        td.start()
+
+    birdview = BirdView(proc_buffer_manager)
+    birdview.load_weights_and_masks("./weights.png", "./masks.png")
+    birdview.start()
+    while True:
+        img = cv2.resize(birdview.get(), (300, 400))
+        cv2.imshow("birdview", img)
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord("q"):
+            break
+
+        for td in capture_tds:
+            print("camera {} fps: {}\n".format(td.device_id, td.stat_data.average_fps), end="\r")
+
+        for td in process_tds:
+            print("process {} fps: {}\n".format(td.device_id, td.stat_data.average_fps), end="\r")
+
+        print("birdview fps: {}".format(birdview.stat_data.average_fps))
+
+
+    for td in process_tds:
+        td.stop()
+
+    for td in capture_tds:
+        td.stop()
+        td.disconnect_camera()
+
+
+if __name__ == "__main__":
+    main()