54 lines
1.6 KiB
Python
54 lines
1.6 KiB
Python
import os
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import numpy as np
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import cv2
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from PIL import Image
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from surround_view import FisheyeCameraModel, display_image, BirdView
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import surround_view.param_settings as settings
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def main():
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names = settings.camera_names
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images = [os.path.join(os.getcwd(), "images", name + ".png") for name in names]
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yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in names]
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camera_models = [FisheyeCameraModel(camera_file, camera_name) for camera_file, camera_name in zip (yamls, names)]
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projected = []
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for image_file, camera in zip(images, camera_models):
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img = cv2.imread(image_file)
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img = camera.undistort(img)
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img = camera.project(img)
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img = camera.flip(img)
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projected.append(img)
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birdview = BirdView()
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Gmat, Mmat = birdview.get_weights_and_masks(projected)
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birdview.update_frames(projected)
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# birdview.make_luminance_balance().stitch_all_parts()
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birdview.stitch_all_parts()
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birdview.make_white_balance()
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birdview.copy_car_image()
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img_samll = cv2.resize(birdview.image,(320,600))
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cv2.imshow("BirdView Result", img_samll)
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while True:
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key = cv2.waitKey(1) & 0xFF
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if key == ord("q"):
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return -1
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# cv2.waitKey(1)
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# cmd = input().strip().lower()
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# if cmd == 'q':
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# cv2.destroyAllWindows()
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# return -1
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# birdview.copy_car_image()
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# ret = display_image("BirdView Result", birdview.image)
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# if ret > 0:
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# Image.fromarray((Gmat * 255).astype(np.uint8)).save("weights.png")
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# Image.fromarray(Mmat.astype(np.uint8)).save("masks.png")
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if __name__ == "__main__":
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main()
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