55 lines
2.2 KiB
Python
55 lines
2.2 KiB
Python
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#!/usr/bin/env python3
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import cv2
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import numpy as np
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import sys
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import os
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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from surround_view import FisheyeCameraModel
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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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front, back, left, right = projected
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# Generate weights for each corner (matching birdview.py logic)
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from surround_view.utils import get_weight_mask_matrix
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G0, M0 = get_weight_mask_matrix(front[:, :settings.xl], left[:settings.yt, :])
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G1, M1 = get_weight_mask_matrix(front[:, settings.xr:], right[:settings.yt, :])
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G2, M2 = get_weight_mask_matrix(back[:, :settings.xl], left[settings.yb:, :])
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G3, M3 = get_weight_mask_matrix(back[:, settings.xr:], right[settings.yb:, :])
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# Save as separate PNG files (each is a single-channel float matrix)
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# Convert to 16-bit PNG for precision
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G0_16 = (G0 * 65535).astype(np.uint16)
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G1_16 = (G1 * 65535).astype(np.uint16)
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G2_16 = (G2 * 65535).astype(np.uint16)
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G3_16 = (G3 * 65535).astype(np.uint16)
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cv2.imwrite("weights_corner_0_left_top.png", G0_16)
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cv2.imwrite("weights_corner_1_right_top.png", G1_16)
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cv2.imwrite("weights_corner_2_left_bottom.png", G2_16)
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cv2.imwrite("weights_corner_3_right_bottom.png", G3_16)
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print(f"Generated weights for 4 corners:")
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print(f" - weights_corner_0_left_top.png: {G0.shape} (front+left)")
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print(f" - weights_corner_1_right_top.png: {G1.shape} (front+right)")
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print(f" - weights_corner_2_left_bottom.png: {G2.shape} (back+left)")
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print(f" - weights_corner_3_right_bottom.png: {G3.shape} (back+right)")
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if __name__ == "__main__":
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main()
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