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 __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
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], :]
"""
This code is used to visualize the bird's view
Meanwhile, it's possible to tune the rectangle corners of which
the bird's will be obtained
"""
from Camera.PerspectiveTransformation import EagleView
from TrackBar.customizedTrackBar import customizedTrackBar
from Camera.Undistortion import UndistortFisheye
import cv2
# video = cv2.VideoCapture("dataset/front_camera.avi")
camera = UndistortFisheye("Front_Camera")
eagleView = EagleView()
width = 640
height = 480
topLeft_XBar = customizedTrackBar(0, 1, width, 0, "x_topLeft",
"Tuning Parameters")
topLeft_YBar = customizedTrackBar(0, 1, height, 0, "y_topLeft",
"Tuning Parameters")
topRight_XBar = customizedTrackBar(0, 1, width, width - 1, "x_topRight",
"Tuning Parameters")
topRight_YBar = customizedTrackBar(0, 1, height, 0, "y_topRight",
"Tuning Parameters")
bottomRight_XBar = customizedTrackBar(0, 1, width, width - 1, "x_bottomRight",
"Tuning Parameters")
"""
This code is used to obtain the bird's view of
a robot with two cameras installed(front and back cameras)
"""
import cv2
from Camera.Undistortion import UndistortFisheye
from Camera.PerspectiveTransformation import EagleView
# 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)
import cv2
import imutils
from imutils.video import FPS
import time
from Camera.Stitcher import stitchTwoImages
from Camera.Undistortion import UndistortFisheye
from Camera.PerspectiveTransformation import EagleView
frontCamera = UndistortFisheye("Front_Camera")
frontEagle = EagleView()
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)
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