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updated get_blend_mask method to accept float numbers for the x and y… #19

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updated get_blend_mask method to accept float numbers for the x and y… #19

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7 changes: 4 additions & 3 deletions SurroundBirdEyeView/surroundBEV.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
parser.add_argument('-ch', '--CAR_HEIGHT', default=400, type=int, help='Car Frame Height')
parser.add_argument('-fs', '--FOCAL_SCALE', default=1, type=float, help='Camera Undistort Focal Scale')
parser.add_argument('-ss', '--SIZE_SCALE', default=2, type=float, help='Camera Undistort Size Scale')
parser.add_argument('-blend','--BLEND_FLAG', default=False, type=bool, help='Blend BEV Image (Ture/False)')
parser.add_argument('-blend','--BLEND_FLAG', default=True, type=bool, help='Blend BEV Image (Ture/False)')
parser.add_argument('-balance','--BALANCE_FLAG', default=False, type=bool, help='Balance BEV Image (Ture/False)')
args = parser.parse_args()

Expand Down Expand Up @@ -271,8 +271,9 @@ def get_blend_mask(self, maskA, maskB, lineA, lineB):
overlap = cv2.bitwise_and(maskA, maskB)
indices = np.where(overlap != 0)
for y, x in zip(*indices):
distA = cv2.pointPolygonTest(np.array(lineA), (x, y), True)
distB = cv2.pointPolygonTest(np.array(lineB), (x, y), True)
# Change the order of x and y in the point tuple
distA = cv2.pointPolygonTest(np.array(lineA), (float(x), float(y)), True)
distB = cv2.pointPolygonTest(np.array(lineB), (float(x), float(y)), True)
maskA[y, x] = distA**2 / (distA**2 + distB**2 + 1e-6) * 255
return maskA

Expand Down