jokereyeadas/adassourrondview

The C++ code demo for surround view of car

360 Surround-View C++ Project

WeChat&知乎：ADAS之眼

个人博客网站传送门

Reference Repo

index	repo	info
1	surround-view-system-introduction	python verison, refrence repo for 2D avm
2	3d surround-view-system	cuda+opengl verison, for 3d avm

the project params described doc link:

surrond view doc

How To Build And Run？

• build

#!/bin/bash
mkdir build
cd build 
cmake ..
make

• run

# make sure data(images amd yaml) path is ../../ before cur app
./avm_app

Result

awb and lum banlance disable	awb and lum banlance enable

adassourrondview's Issues

3D环视

你给的这个3D环视的链接，你复现了吗，能不能出个教程

merge_image函数报错"cannot bind non-const lvalue reference of type ‘cv::Mat&’ to an rvalue of type ‘cv::Mat’"

报错如下，请问该如何解决？

/home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp: In function ‘int main(int, char**)’:
/home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:133:58: error: cannot bind non-const lvalue reference of type ‘cv::Mat&’ to an rvalue of type ‘cv::Mat’
  133 |     merge_image(undist_dir_img[0](roi), undist_dir_img[1](roi), merge_weights_img[2], out_put_img(roi));
      |                                         ~~~~~~~~~~~~~~~~~^~~~~
In file included from /home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:8:
/home/funnywii/Documents/CV/360/AdasSourrondView/./srcs/common.h:50:41: note:   initializing argument 2 of ‘void merge_image(cv::Mat, cv::Mat&, cv::Mat&, cv::Mat&)’
   50 | void merge_image(cv::Mat src1, cv::Mat& src2, cv::Mat& w, cv::Mat& out);
      |                                ~~~~~~~~~^~~~
/home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:136:58: error: cannot bind non-const lvalue reference of type ‘cv::Mat&’ to an rvalue of type ‘cv::Mat’
  136 |     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)));
      |                                         ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:8:
/home/funnywii/Documents/CV/360/AdasSourrondView/./srcs/common.h:50:41: note:   initializing argument 2 of ‘void merge_image(cv::Mat, cv::Mat&, cv::Mat&, cv::Mat&)’
   50 | void merge_image(cv::Mat src1, cv::Mat& src2, cv::Mat& w, cv::Mat& out);
      |                                ~~~~~~~~~^~~~
/home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:139:77: error: cannot bind non-const lvalue reference of type ‘cv::Mat&’ to an rvalue of type ‘cv::Mat’
  139 |     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));
      |                                                            ~~~~~~~~~~~~~~~~~^~~~~
In file included from /home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:8:
/home/funnywii/Documents/CV/360/AdasSourrondView/./srcs/common.h:50:41: note:   initializing argument 2 of ‘void merge_image(cv::Mat, cv::Mat&, cv::Mat&, cv::Mat&)’
   50 | void merge_image(cv::Mat src1, cv::Mat& src2, cv::Mat& w, cv::Mat& out);
      |                                ~~~~~~~~~^~~~
/home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:142:58: error: cannot bind non-const lvalue reference of type ‘cv::Mat&’ to an rvalue of type ‘cv::Mat’
  142 |     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)));
      |                                         ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/funnywii/Documents/CV/360/AdasSourrondView/avm_app_demo.cpp:8:
/home/funnywii/Documents/CV/360/AdasSourrondView/./srcs/common.h:50:41: note:   initializing argument 2 of ‘void merge_image(cv::Mat, cv::Mat&, cv::Mat&, cv::Mat&)’
   50 | void merge_image(cv::Mat src1, cv::Mat& src2, cv::Mat& w, cv::Mat& out);
      |                                ~~~~~~~~~^~~~

如何把project_matrix生成一个查找表

如何如何把project_matrix生成一个查找表？如何和前面的矫正mapx合起来就可以得到一个直接从原始画面到投影画面的查找表？

实际运行

您好，我看到您的项目到拼接鸟瞰图的部分就结束了，有考虑更新实际运行部分的代码吗？

Steps to find project_keypoints

Hi, I know that to perform perspective transform we need source points and reference points. Source points is picked manually from undistorted source image. What is the procedure to get reference points that is passed in params.cpp. As it has to resemble the same on final birds eye view output.

Secondly, at what height was the fisheye cameras mounted?

运行了您的代码，但是拼接出来和您结果不同。

循环读取摄像头数据流与运行该例程，图像帧率下降严重

摄像头原图数据流FPS为30，但将一个摄像头原图数据流作为输入导入该开源例程中后输出的处理后图像FPS只有12，同时导入两个摄像头原图数据流的话输出图像的FPS只有8，请问有遇到这种情况吗

在4.2 four corner merge得到的图像错误

作者您好，

运行您的代码，得到的结果如下，能看到很多黑色横线。

配置方面，我的yaml是利用 surround-view-system-introduction 的python代码得到的，内参、畸变参数和proj矩阵是直接copy过来的，weights.png也是copy过来用的

我看了一下左上角的out_put_img(roi)图像，是下面的结果，

使用surround-view-system-introduction 这个代码，拼接得到的图像是正常的，虽然4个角的效果也不太好，但是不存在黑线。

请问这可能是什么原因导致的？