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avm_app_demo.cpp
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/***
* function: 360 surrond view combine c++ demo
* author: joker.mao
* date: 2023/07/15
* copyright: ADAS_EYES all right reserved
*/
#include "common.h"
//#define DEBUG
#define AWB_LUN_BANLANCE_ENALE 1
int main(int argc, char** argv)
{
if (argc != 2) {
std::cout << "usage:\n\t" << argv[0] << " path\n";
return -1;
}
std::cout << argv[0] << " app start running..." << std::endl;
std::string data_path = std::string(argv[1]);
cv::Mat car_img;
cv::Mat origin_dir_img[4];
cv::Mat undist_dir_img[4];
cv::Mat merge_weights_img[4];
cv::Mat out_put_img;
float *w_ptr[4];
CameraPrms prms[4];
//1.read image and read weights
car_img = cv::imread(data_path + "/images/car.png");
cv::resize(car_img, car_img, cv::Size(xr - xl, yb - yt));
out_put_img = cv::Mat(cv::Size(total_w, total_h), CV_8UC3, cv::Scalar(0, 0, 0));
cv::Mat weights = cv::imread(data_path + "/yaml/weights.png", -1);
if (weights.channels() != 4) {
std::cerr << "imread weights failed " << weights.channels() << "\r\n";
return -1;
}
for (int i = 0; i < 4; ++i) {
merge_weights_img[i] = cv::Mat(weights.size(), CV_32FC1, cv::Scalar(0, 0, 0));
w_ptr[i] = (float *)merge_weights_img[i].data;
}
//read weights of corner
int pixel_index = 0;
for (int h = 0; h < weights.rows; ++h) {
uchar* uc_pixel = weights.data + h * weights.step;
for (int w = 0; w < weights.cols; ++w) {
w_ptr[0][pixel_index] = uc_pixel[0] / 255.0f;
w_ptr[1][pixel_index] = uc_pixel[1] / 255.0f;
w_ptr[2][pixel_index] = uc_pixel[2] / 255.0f;
w_ptr[3][pixel_index] = uc_pixel[3] / 255.0f;
uc_pixel += 4;
++pixel_index;
}
}
#ifdef DEBUG
for (int i = 0; i < 4; ++i) {
//0 left bottom 1 right top 2 left top 3 right top
display_mat(merge_weights_img[i], "w");
}
#endif
//1. read calibration prms
for (int i = 0; i < 4; ++i) {
auto& prm = prms[i];
prm.name = camera_names[i];
auto ok = read_prms(data_path + "/yaml/" + prm.name + ".yaml", prm);
if (!ok) {
return -1;
}
}
//2.lum equalization and awb for four channel image
std::vector<cv::Mat*> srcs;
for (int i = 0; i < 4; ++i) {
auto& prm = prms[i];
origin_dir_img[i] = cv::imread(data_path + "/images/" + prm.name + ".png");
srcs.push_back(&origin_dir_img[i]);
}
#if AWB_LUN_BANLANCE_ENALE
awb_and_lum_banlance(srcs);
#endif
//3. undistort image
for (int i = 0; i < 4; ++i) {
auto& prm = prms[i];
cv::Mat& src = origin_dir_img[i];
undist_by_remap(src, src, prm);
cv::warpPerspective(src, src, prm.project_matrix, project_shapes[prm.name]);
if (camera_flip_mir[i] == "r+") {
cv::rotate(src, src, cv::ROTATE_90_CLOCKWISE);
} else if (camera_flip_mir[i] == "r-") {
cv::rotate(src, src, cv::ROTATE_90_COUNTERCLOCKWISE);
} else if (camera_flip_mir[i] == "m") {
cv::rotate(src, src, cv::ROTATE_180);
}
//display_mat(src, "project");
//cv::imwrite(prms.name + "_undist.png", src);
undist_dir_img[i] = src.clone();
}
//4.start combine
std::cout << argv[0] << " app start combine" << std::endl;
car_img.copyTo(out_put_img(cv::Rect(xl, yt, car_img.cols, car_img.rows)));
//4.1 out_put_img center copy
for (int i = 0; i < 4; ++i) {
cv::Rect roi;
bool is_cali_roi = false;
if (std::string(camera_names[i]) == "front") {
roi = cv::Rect(xl, 0, xr - xl, yt);
//std::cout << "\nfront" << roi;
undist_dir_img[i](roi).copyTo(out_put_img(roi));
} else if (std::string(camera_names[i]) == "left") {
roi = cv::Rect(0, yt, xl, yb - yt);
//std::cout << "\nleft" << roi << out_put_img.size();
undist_dir_img[i](roi).copyTo(out_put_img(roi));
} else if (std::string(camera_names[i]) == "right") {
roi = cv::Rect(0, yt, xl, yb - yt);
//std::cout << "\nright" << roi << out_put_img.size();
undist_dir_img[i](roi).copyTo(out_put_img(cv::Rect(xr, yt, total_w - xr, yb - yt)));
} else if (std::string(camera_names[i]) == "back") {
roi = cv::Rect(xl, 0, xr - xl, yt);
//std::cout << "\nright" << roi << out_put_img.size();
undist_dir_img[i](roi).copyTo(out_put_img(cv::Rect(xl, yb, xr - xl, yt)));
}
}
//4.2the four corner merge
//w: 0 left bottom 1 right top 2 left top 3 right top
//image: "front", "left", "back", "right"
cv::Rect roi;
//左上
roi = cv::Rect(0, 0, xl, yt);
//!the mat must not be deepcopy!
merge_image(undist_dir_img[0](roi), undist_dir_img[1](roi), merge_weights_img[2], out_put_img(roi));
//右上
roi = cv::Rect(xr, 0, xl, yt);
merge_image(undist_dir_img[0](roi), undist_dir_img[3](cv::Rect(0, 0, xl, yt)), merge_weights_img[1], out_put_img(cv::Rect(xr, 0, xl, yt)));
//左下
roi = cv::Rect(0, yb, xl, yt);
merge_image(undist_dir_img[2](cv::Rect(0, 0, xl, yt)), undist_dir_img[1](roi), merge_weights_img[0], out_put_img(roi));
//右下
roi = cv::Rect(xr, 0, xl, yt);
merge_image(undist_dir_img[2](roi), undist_dir_img[3](cv::Rect(0, yb, xl, yt)), merge_weights_img[3], out_put_img(cv::Rect(xr, yb, xl, yt)));
cv::imwrite("ADAS_EYES_360_VIEW.png", out_put_img);
#ifdef DEBUG
cv::resize(out_put_img, out_put_img, cv::Size(out_put_img.size()/2)),
display_mat(out_put_img, "out_put_img");
#endif
std::cout << argv[0] << " app finished" << std::endl;
}