Bird's eye view

This project is about to get segmentation mask of one particular class - Road in this case. And transform frontal view of this object taken from the camera into top down (bird's eye) view.

Input: Original image taken from the camera (3 channels image). Camera's parameters(intrinsics, distortion coefficients).
Output: Segmentation mask (1 channel image) perspective transformed to top down view.

About

• Segmentation algorithm was taken from https://github.com/open-mmlab/mmsegmentation
• There are 3 different perspective transformation algorithms in the project:

1. projector_initial.py contains a mix of opencv functions and manual operations with numpy arrays.
2. projector_opencv.py contains transformation method based purely on opencv functions.
3. projector_alternative.py contains a manual perspective transformation method.

• Interfaces of all methods are the same, so any of them can be used interchangeably. One just need to change import module in line 4 of main.py file.

Prepare

• It's recommended to build a container based on the Dockerfile from the project

Install

git clone https://github.com/freetown113/birds_eye_view.git
cd birds_eye_view
bash setup.sh

Launch

bash launch.sh

Result

• After the completion of the program execution process the output.jpg image will be saved to the result directory.