def main(dataFiles, pathToCalib, outputPath, calib_end='.txt'):
'''
Main method of transform2BEV
:param dataFiles: the files you want to transform to BirdsEyeView, e.g., /home/elvis/kitti_road/data/*.png
:param pathToCalib: containing calib data as txt-files, e.g., /home/elvis/kitti_road/calib/
:param outputPath: where the BirdsEyeView data will be saved, e.g., /home/elvis/kitti_road/data_bev
:param calib_end: file extension of calib-files (OPTIONAL)
'''
# Extract path of data
pathToData = os.path.split(dataFiles)[0]
assert os.path.isdir(
pathToData
), "The directory containig the input data seems to not exist!"
assert os.path.isdir(pathToCalib), "Error <PathToCalib> does not exist"
# BEV class
bev = BirdsEyeView()
#check
if not os.path.isdir(outputPath):
os.makedirs(outputPath)
# get filelist
fileList_data = glob(dataFiles)
assert len(fileList_data), 'Could not find files in: %s' % pathToData
# Loop over all files
for aFile in fileList_data:
assert os.path.isfile(aFile), '%s is not a file' % aFile
file_key = aFile.split('/')[-1].split('.')[0]
#print "Transforming file %s to Birds Eye View " %file_key
tags = file_key.split('_')
data_end = aFile.split(file_key)[-1]
#calibration filename
calib_file = os.path.join(pathToCalib, file_key + calib_end)
if not os.path.isfile(calib_file) and len(tags) == 3:
# exclude lane or road from filename!
calib_file = os.path.join(pathToCalib,
tags[0] + '_' + tags[2] + calib_end)
# Check if calb file exist!
if not os.path.isfile(calib_file):
#print "Cannot find calib file: %s" %calib_file
#print "Attention: It is assumed that input data and calib files have the same name (only different extension)!"
sys.exit(1)
# Update calibration for Birds Eye View
bev.setup(calib_file)
# Read image
data = cv2.imread(aFile, cv2.IMREAD_UNCHANGED)
# Compute Birds Eye View
data_bev = bev.compute(data)
# Write output (BEV)
fn_out = os.path.join(outputPath, file_key + data_end)
if (cv2.imwrite(fn_out, data_bev)):
print("done ...")
else:
print("saving to %s failed ... (permissions?)" % outputPath)
return
def main(dataFiles, pathToCalib, outputPath, calib_end = '.txt'):
'''
Main method of transform2BEV
:param dataFiles: the files you want to transform to BirdsEyeView, e.g., /home/elvis/kitti_road/data/*.png
:param pathToCalib: containing calib data as txt-files, e.g., /home/elvis/kitti_road/calib/
:param outputPath: where the BirdsEyeView data will be saved, e.g., /home/elvis/kitti_road/data_bev
:param calib_end: file extension of calib-files (OPTIONAL)
'''
# Extract path of data
pathToData = os.path.split(dataFiles)[0]
assert os.path.isdir(pathToData), "The directory containig the input data seems to not exist!"
assert os.path.isdir(pathToCalib), "Error <PathToCalib> does not exist"
# BEV class
bev = BirdsEyeView()
#check
if not os.path.isdir(outputPath):
os.makedirs(outputPath)
# get filelist
fileList_data = glob(dataFiles)
assert len(fileList_data), 'Could not find files in: %s' %pathToData
# Loop over all files
for aFile in fileList_data:
assert os.path.isfile(aFile), '%s is not a file' %aFile
file_key = aFile.split('/')[-1].split('.')[0]
print "Transforming file %s to Birds Eye View " %file_key
tags = file_key.split('_')
data_end = aFile.split(file_key)[-1]
#calibration filename
calib_file = os.path.join(pathToCalib, file_key + calib_end)
if not os.path.isfile(calib_file) and len(tags)==3:
# exclude lane or road from filename!
calib_file = os.path.join(pathToCalib, tags[0]+ '_' + tags[2] + calib_end)
# Check if calb file exist!
if not os.path.isfile(calib_file):
print "Cannot find calib file: %s" %calib_file
print "Attention: It is assumed that input data and calib files have the same name (only different extension)!"
sys.exit(1)
# Update calibration for Birds Eye View
bev.setup(calib_file)
# Read image
data = cv2.imread(aFile, cv2.CV_LOAD_IMAGE_UNCHANGED if hasattr(cv2, 'CV_LOAD_IMAGE_UNCHANGED') else cv2.IMREAD_UNCHANGED)
# Compute Birds Eye View
data_bev = bev.compute(data)
# Write output (BEV)
fn_out = os.path.join(outputPath,file_key + data_end)
if (cv2.imwrite(fn_out, data_bev)):
print "done ..."
else:
print "saving to %s failed ... (permissions?)"%outputPath
return
print "BirdsEyeView was stored in: %s" %outputPath