def __init__(self):
args = parse_args(sys.argv[1], sys.argv[2])
planar = glob.glob(sys.argv[1] + '/*_planar.npz')[0]
npz = np.load(planar)
self.planes = npz['planes']
(self.imu_transforms_mk1, self.gps_data_mk1,
self.gps_times_mk1) = get_transforms(args, 'mark1')
(self.imu_transforms_mk2, self.gps_data_mk2,
self.gps_times_mk2) = get_transforms(args, 'mark2')
self.back_projector = BackProjector(args)
self.vr = VideoReader(args['video'])
self.t = 1
cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE)
cv2.setMouseCallback('image', self.mouseHandler)
self.lanes = None
self.markings = None
def __init__(self):
args = parse_args(sys.argv[1], sys.argv[2])
planar = glob.glob(sys.argv[1] + '/*_planar.npz')[0]
npz = np.load(planar)
self.planes = npz['planes']
(self.imu_transforms_mk1,
self.gps_data_mk1,
self.gps_times_mk1) = get_transforms(args, 'mark1')
(self.imu_transforms_mk2,
self.gps_data_mk2,
self.gps_times_mk2) = get_transforms(args, 'mark2')
self.back_projector = BackProjector(args)
self.vr = VideoReader(args['video'])
self.t = 1
cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE)
cv2.setMouseCallback('image', self.mouseHandler)
self.lanes = None
self.markings = None
class ImageClicker(object):
def __init__(self):
args = parse_args(sys.argv[1], sys.argv[2])
planar = glob.glob(sys.argv[1] + '/*_planar.npz')[0]
npz = np.load(planar)
self.planes = npz['planes']
(self.imu_transforms_mk1, self.gps_data_mk1,
self.gps_times_mk1) = get_transforms(args, 'mark1')
(self.imu_transforms_mk2, self.gps_data_mk2,
self.gps_times_mk2) = get_transforms(args, 'mark2')
self.back_projector = BackProjector(args)
self.vr = VideoReader(args['video'])
self.t = 1
cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE)
cv2.setMouseCallback('image', self.mouseHandler)
self.lanes = None
self.markings = None
def mouseHandler(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONUP:
if self.markings == None:
self.markings = np.array([x, y])[np.newaxis]
else:
self.markings = np.vstack([self.markings, [x, y]])
pix = np.array([x, y, 1])
mk1_t = mk2_to_mk1(self.t, self.gps_times_mk1, self.gps_times_mk2)
xform = self.imu_transforms_mk1[mk1_t]
v = self.back_projector.calculateBackProjection(xform, pix)
l0 = self.back_projector.calculateBackProjection(xform)
l = l0 - v
best_model = (np.inf, 0, 0)
for i, plane in enumerate(self.planes):
pt = self.back_projector.calculateIntersection(l0, l, plane)
d = np.linalg.norm(pt - plane[3:])
if d < best_model[0]:
best_model = (d, i, pt)
print best_model[-1]
if self.lanes == None:
self.lanes = best_model[-1]
else:
self.lanes = np.vstack((self.lanes, best_model[-1]))
def exportData(self, file_name):
lanes = {}
lanes['lane0'] = self.lanes
print 'saved:'
print self.lanes
np.savez(file_name, **lanes)
def nextFrame(self):
while True:
while self.vr.framenum < self.t:
success, I = self.vr.getNextFrame()
if self.markings != None:
x = self.markings[:, 0]
y = self.markings[:, 1]
for i in xrange(4):
I[y + i, x, :] = np.array([255, 255, 0])
I[y - i, x, :] = np.array([255, 255, 0])
I[y, x + i, :] = np.array([255, 255, 0])
I[y, x - i, :] = np.array([255, 255, 0])
cv2.imshow('image', I)
key = cv2.waitKey(1) & 0xFF
if key != 255:
print key
if key == 27: # esc
return
if key == 115: # s
self.exportData(sys.argv[1] +
'/multilane_points_image.npz')
elif key == 32: # space
self.t += 20
self.markings = None
class ImageClicker(object):
def __init__(self):
args = parse_args(sys.argv[1], sys.argv[2])
planar = glob.glob(sys.argv[1] + '/*_planar.npz')[0]
npz = np.load(planar)
self.planes = npz['planes']
(self.imu_transforms_mk1,
self.gps_data_mk1,
self.gps_times_mk1) = get_transforms(args, 'mark1')
(self.imu_transforms_mk2,
self.gps_data_mk2,
self.gps_times_mk2) = get_transforms(args, 'mark2')
self.back_projector = BackProjector(args)
self.vr = VideoReader(args['video'])
self.t = 1
cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE)
cv2.setMouseCallback('image', self.mouseHandler)
self.lanes = None
self.markings = None
def mouseHandler(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONUP:
if self.markings == None:
self.markings = np.array([x, y])[np.newaxis]
else:
self.markings = np.vstack([self.markings, [x, y]])
pix = np.array([x, y, 1])
mk1_t = mk2_to_mk1(self.t, self.gps_times_mk1, self.gps_times_mk2)
xform = self.imu_transforms_mk1[mk1_t]
v = self.back_projector.calculateBackProjection(xform, pix)
l0 = self.back_projector.calculateBackProjection(xform)
l = l0 - v
best_model = (np.inf, 0, 0)
for i, plane in enumerate(self.planes):
pt = self.back_projector.calculateIntersection(l0, l,
plane)
d = np.linalg.norm(pt - plane[3:])
if d < best_model[0]:
best_model = (d, i, pt)
print best_model[-1]
if self.lanes == None:
self.lanes = best_model[-1]
else:
self.lanes = np.vstack((self.lanes, best_model[-1]))
def exportData(self, file_name):
lanes = {}
lanes['lane0'] = self.lanes
print 'saved:'
print self.lanes
np.savez(file_name, **lanes)
def nextFrame(self):
while True:
while self.vr.framenum < self.t:
success, I = self.vr.getNextFrame()
if self.markings != None:
x = self.markings[:, 0]
y = self.markings[:, 1]
for i in xrange(4):
I[y+i, x, :] = np.array([255, 255, 0])
I[y-i, x, :] = np.array([255, 255, 0])
I[y, x+i, :] = np.array([255, 255, 0])
I[y, x-i, :] = np.array([255, 255, 0])
cv2.imshow('image', I)
key = cv2.waitKey(1) & 0xFF
if key != 255:
print key
if key == 27: # esc
return
if key == 115: # s
self.exportData(sys.argv[1] + '/multilane_points_image.npz')
elif key == 32: # space
self.t += 20
self.markings = None