class avm:
def __init__(self):
self.__frontCamera = UndistortFisheye("Front_Camera")
self.__backCamera = UndistortFisheye("Back_Camera")
self.__frontEagle = EagleView()
self.__backEagle = EagleView()
# self.__frontEagle.setDimensions((149, 195), (439, 207), (528, 380), (37, 374))
# self.__backEagle.setDimensions((164, 229), (469, 229), (588, 430), (45, 435))
self.__frontEagle.setDimensions((186, 195), (484, 207), (588, 402),
(97, 363))
self.__backEagle.setDimensions((171, 240), (469, 240), (603, 452),
(52, 441))
self.__middleView = None
self.__counter = 0
self.stitcher = stitchTwoImages("Bottom2Upper")
self.upper = None
self.bottom = None
def runAVM(self, frontFrame, backFrame):
frontView = self.__frontCamera.undistort(frontFrame)
topDown_Front = self.__frontEagle.transfrom(frontView)
backView = self.__backCamera.undistort(backFrame)
topDown_Back = self.__backEagle.transfrom(backView)
topDown_Back = cv2.flip(topDown_Back, 1)
topDown_Front, topDown_Back = self.__reScale(topDown_Front,
topDown_Back)
# stitchingResult = self.__startStitching(topDown_Front)
middleView = self.__getMiddleView(topDown_Front)
birdView = np.vstack((topDown_Front, middleView, topDown_Back))
return birdView
def __reScale(self, topDown_Front, topDown_Back):
width_FrontView = topDown_Front.shape[1]
width_BackView = topDown_Back.shape[1]
height_FrontView = topDown_Front.shape[0]
height_BackView = topDown_Back.shape[0]
if width_FrontView > width_BackView:
newWidth = width_BackView
ratio = width_BackView / width_FrontView
newHeight = int(ratio * height_FrontView)
topDown_Front = cv2.resize(topDown_Front, (newWidth, newHeight))
else:
newWidth = width_FrontView
ratio = width_FrontView / width_BackView
newHeight = int(ratio * height_BackView)
topDown_Back = cv2.resize(topDown_Back, (newWidth, newHeight))
return topDown_Front, topDown_Back
def __getMiddleView(self, topDown_Front):
# the length of the image represents the distance in front or back of the car
height_FrontView = topDown_Front.shape[0]
if self.__middleView is None:
realHeight_FrontView = 13 # unit is cm
realHeight_MiddleView = 29.5 # unit is cm
ratio = int(height_FrontView / realHeight_FrontView)
height_MiddleView = int(realHeight_MiddleView * ratio)
width_MiddleView = int(topDown_Front.shape[1])
self.__middleView = np.zeros(
(height_MiddleView, width_MiddleView, 3), np.uint8)
# print(ratio)
# else:
# # self.__middleView[0:stitchingResult.shape[0], :]
return self.__middleView
def __startStitching(self, accView):
if self.bottom is None:
self.bottom = accView
return None
else:
# time.sleep(0.5)
self.upper = accView
self.bottom = self.stitcher.stitch(self.bottom, self.upper)
cv2.imshow("Result", self.bottom)
height = accView.shape[0]
return self.bottom[height:self.bottom.shape[0], :]
while True:
# isGrabbed, frame = video.read()
frame = cv2.imread("dataset/Front_View.jpg")
topLeft = (int(topLeft_XBar.getValue()), int(topLeft_YBar.getValue()))
topRight = (int(topRight_XBar.getValue()), int(topRight_YBar.getValue()))
bottomRight = (int(bottomRight_XBar.getValue()),
int(bottomRight_YBar.getValue()))
bottomLeft = (int(bottomLeft_XBar.getValue()),
int(bottomLeft_YBar.getValue()))
cameraView = camera.undistort(frame)
eagleView.setDimensions(topLeft, topRight, bottomRight, bottomLeft)
topDown = eagleView.transfrom(cameraView)
cloneFrame = cameraView.copy()
# visualize corners
cv2.line(cloneFrame, topLeft, topRight, (0, 0, 255), 1)
cv2.line(cloneFrame, bottomLeft, bottomRight, (0, 0, 255), 1)
cv2.line(cloneFrame, topLeft, bottomLeft, (0, 0, 255), 1)
cv2.line(cloneFrame, bottomRight, topRight, (0, 0, 255), 1)
cv2.imshow("Bird's Eye View", topDown)
cv2.imshow("Original Image", cloneFrame)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
elif key == ord("d"): # print tuned values when "d" button is pressed
print("width: " + str(cloneFrame.shape[1]))
frontEagle.setDimensions((149, 195), (439, 207), (528, 380), (37, 374))
count = 0
totalTime = 0
mergedImage = 0
video = cv2.VideoCapture("dataset/front_camera.avi")
while True:
count += 1
isGrabbed, frame = video.read()
if (not isGrabbed):
break
if count % 5 != 0:
continue
frontView = frontCamera.undistort(frame)
topDown_Front = frontEagle.transfrom(frontView)
# frame = imutils.resize(frame, width=600)
if count == 5:
bottom = topDown_Front
else:
# time.sleep(1)
upper = topDown_Front
cv2.imshow("upper", upper)
cv2.imshow("bottom", bottom)
cv2.waitKey()
# key = cv2.waitKey(1) & 0xFF
# if key == ord("q"):
# break
stitcher = stitchTwoImages("Bottom2Upper")
mergedImage = stitcher.stitch(bottom, upper)
if mergedImage is None:
# frontStream = cv2.VideoCapture("dataset/front_camera.avi")
# backStream = cv2.VideoCapture("dataset/back_camera.avi")
frontCamera = UndistortFisheye("Front_Camera")
backCamera = UndistortFisheye("Back_Camera")
frontEagle = EagleView()
backEagle = EagleView()
frontEagle.setDimensions((186, 195), (484, 207), (588, 402), (97, 363))
backEagle.setDimensions((171, 240), (469, 240), (603, 452), (52, 441))
while True:
# _, frontFrame = frontStream.read()
# _, backFrame = backStream.read()
frontFrame = cv2.imread("dataset/Front_View.jpg")
backFrame = cv2.imread("dataset/Rear_View.jpg")
frontView = frontCamera.undistort(frontFrame)
topDown_Front = frontEagle.transfrom(frontView)
backView = backCamera.undistort(backFrame)
topDown_Back = backEagle.transfrom(backView)
cv2.imshow("Front Bird's Eye View", topDown_Front)
cv2.imshow("Back Bird's Eye View", topDown_Back)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
cv2.destroyAllWindows()
class avm:
def __init__(self):
self.__leftCamera = UndistortFisheye("left_Camera")
self.__rightCamera = UndistortFisheye("right_Camera")
self.__leftEagle = EagleView()
self.__rightEagle = EagleView()
# self.__frontEagle.setDimensions((149, 195), (439, 207), (528, 380), (37, 374))
# self.__backEagle.setDimensions((164, 229), (469, 229), (588, 430), (45, 435))
#reset left/right setDimensions
self.__leftEagle.setDimensions(
(186, 195), (484, 207), (588, 402), (97, 363)
) #fisheyecalibration을 진행한 후인 Undistorted_Front_View.jpg의 4 개의 꼭짓점
self.__rightEagle.setDimensions((171, 240), (469, 240), (603, 452),
(52, 441))
# self.__leftEagle.setDimensions((186, 195), (484, 207), (588, 402), (97, 363)) #fisheyecalibration을 진행한 후인 Undistorted_Front_View.jpg의 4 개의 꼭짓점
# self.__rightEagle.setDimensions((171, 240), (469, 240), (603, 452), (52, 441))
self.__middleView = None
self.__counter = 0
# self.stitcher = stitchTwoImages("Bottom2Upper") #어떻게 활용해야할까???
# self.upper = None
# self.bottom = None
def runAVM(self, leftFrame, rightFrame):
leftView = self.__leftCamera.undistort(leftFrame)
topDown_left = self.__leftEagle.transfrom(leftView)
rightView = self.__rightCamera.undistort(rightFrame)
topDown_right = self.__rightEagle.transfrom(rightView)
# topDown_Back = cv2.flip(topDown_Back, 1) #flip left/right
topDown_left, topDown_right = self.__reScale(topDown_left,
topDown_right)
# stitchingResult = self.__startStitching(topDown_Front)
middleView = self.__getMiddleView(topDown_left)
birdView = np.hstack((topDown_left, middleView, topDown_right))
return birdView
def __reScale(self, topDown_left, topDown_right):
width_leftView = topDown_left.shape[1]
width_rightView = topDown_right.shape[1]
height_leftView = topDown_left.shape[0]
height_rightView = topDown_right.shape[0]
if height_leftView > height_rightView:
newHeight = height_rightView
ratio = height_rightView / height_leftView
newWidth = int(ratio * width_leftView)
topDown_left = cv2.resize(topDown_left, (newWidth, newHeight))
else:
newHeight = height_leftView
ratio = height_leftView / height_rightView
newWidth = int(ratio * width_rightView)
topDown_right = cv2.resize(topDown_right, (newWidth, newHeight))
return topDown_left, topDown_right
def __getMiddleView(self, topDown_left):
# the length of the image represents the distance in front or back of the car
width_leftView = topDown_left.shape[1]
if self.__middleView is None:
realWidth_leftView = 13 # unit is cm
realWidth_MiddleView = 29.5 # unit is cm
ratio = int(width_leftView / realWidth_leftView)
width_MiddleView = int(realWidth_MiddleView * ratio)
height_MiddleView = int(topDown_left.shape[0])
self.__middleView = np.zeros(
(height_MiddleView, width_MiddleView // 2, 3), np.uint8)
# print(ratio)
# else:
# # self.__middleView[0:stitchingResult.shape[0], :]
return self.__middleView