Beispiel #1
0
def main(sysargs):
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.config, group="chessboard_extract")
    
    if "help" in args:
        usage()
        return 0
    
    # test args
    if len(args) <= 2:
        usage()
        return 1
    
    # video settings, etc
    window_name = "Chessboard Extractor"
    side = Theta.resolve(args.split)
    rotate = BuffSplitCap.r0
    crop = (0,0,0,0)
    font = cv2.FONT_HERSHEY_SIMPLEX

    # image stuff
    image_path = os.path.join(args[2], args.prefix or 'frame_')
    if not os.path.exists(args[2]):
        os.makedirs(args[2])

    cv2.namedWindow(window_name)
    cap = BuffSplitCap(args[1], side=side, rotate=rotate, crop=crop, buff_max=cfg.buffer_size)

    # loop video file
    while cap.isOpened():
        frame = cap.frame()
        
        # display status
        textframe = frame.copy()
        displayText(textframe, cap.status(), top=True)
        cv2.imshow(window_name, textframe)
        
        # controls
        key = cv2.waitKey(0)
        if key == Key.right:
            cap.next()
        elif key == Key.left:
            cap.back()
        elif key == Key.enter:
            print "Snapped at: ", cap.at()
            cv2.imwrite("{}{:02d}.jpg".format(image_path, cap.at()), frame)
        elif key == Key.esc:
            print "Quitting."
            break

    # clean up
    cap.release()
    cv2.destroyAllWindows()

    print "\nDone."
    return 0
Beispiel #2
0
def main(sysargs):
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.config, group="chessboard_extract")

    if "help" in args:
        usage()
        return 0

    # test args
    if len(args) <= 2:
        usage()
        return 1

    # video settings, etc
    window_name = "Chessboard Extractor"
    side = Theta.resolve(args.split)
    rotate = BuffSplitCap.r0
    crop = (0, 0, 0, 0)
    font = cv2.FONT_HERSHEY_SIMPLEX

    # image stuff
    image_path = os.path.join(args[2], args.prefix or 'frame_')
    if not os.path.exists(args[2]):
        os.makedirs(args[2])

    cv2.namedWindow(window_name)
    cap = BuffSplitCap(args[1],
                       side=side,
                       rotate=rotate,
                       crop=crop,
                       buff_max=cfg.buffer_size)

    # loop video file
    while cap.isOpened():
        frame = cap.frame()

        # display status
        textframe = frame.copy()
        displayText(textframe, cap.status(), top=True)
        cv2.imshow(window_name, textframe)

        # controls
        key = cv2.waitKey(0)
        if key == Key.right:
            cap.next()
        elif key == Key.left:
            cap.back()
        elif key == Key.enter:
            print "Snapped at: ", cap.at()
            cv2.imwrite("{}{:02d}.jpg".format(image_path, cap.at()), frame)
        elif key == Key.esc:
            print "Quitting."
            break

    # clean up
    cap.release()
    cv2.destroyAllWindows()

    print "\nDone."
    return 0
Beispiel #3
0
def main(sysargs):
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.cfg, group="compare_trainer")
    window_name = "EagleEye Comparator"
    
    if "help" in args:
        usage()
        return 0
    
    # grab marks from args
    if len(args) > 5:
        mark_in = args[4]
        mark_out = args[5]
        
        # test integer-ness
        try: int(mark_in) and int(mark_out)
        except: 
            usage()
            return 1
    
    # or grab them from a marker tool
    elif len(args) > 3:
        ret, mark_in, mark_out = marker_tool(args[1], 50, window_name)
        if not ret:
            print "Not processing - exiting."
            return 1
    else:
        usage()
        return 1
    
    # determine sides
    side = Theta.resolve(args.side or 'buttonside')
    
    # open inouts files
    vid = BuffSplitCap(args[1], buff_max=cfg.buffer_size, side=Theta.Both)
    mapper_xml = Xmlset(args[2], offset=cfg.offset, offmode=Xmlset.offset_mode(cfg.offset_mode))
    trainer_xml = Xmltrainer(args[3], side=side)
    reprojerror_list = {}     # list of reprojection error of all frames
    lastframe = False
    
    # reject mapper_xml if it doesn't contain the trainer_target
    if cfg.trainer_target not in mapper_xml.data(0):
        print "Mapping file must contain training target:", cfg.trainer_target
        print "Target names in mapping file:", mapper_xml.data(0)
        print "Please specifiy correct target name in config"
        return 1
    
    # also reject if it's lens data doesn't match the trainer_xml
    _test_lens = mapper_xml.data(0)[cfg.trainer_target]['lens']
    if (_test_lens == Theta.NonDual and side != Theta.NonDual) \
            or (side != Theta.NonDual and _test_lens == Theta.NonDual):
        print "Mapping file doesn't match training file"
        print "map:", Theta.name(_test_lens), "trainer:", Theta.name(side)
        return 1
    
    # sync the video and xml
    vid.restrict(mark_in, mark_out)
    cropped_total = mark_out - mark_in
    mapper_xml.setRatio(cropped_total)
    
    # status
    print "ratio at:", mapper_xml.ratio()
    print "offset by:", cfg.offset, "in", cfg.offset_mode, "mode"
    print ""
    
    # open export (if specified)
    if args.video_export:
        in_fps  = vid.get(cv2.CAP_PROP_FPS)
        in_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
                   int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))

        out_vid = cv2.VideoWriter(args.video_export,
                                  cv2.VideoWriter_fourcc(*cfg.fourcc),
                                  in_fps, vid.shape[:2])
        print "exporting to:", args.video_export
    else:
        cv2.namedWindow(window_name)
        print "interactive mode"
    
    
    # main loop
    while vid.isOpened():
        frame = vid.frame()
        reprojerror_list = compareReproj(frame, vid.at(), mapper_xml, trainer_xml, reprojerror_list, cfg)
        
        # export or navigate
        if args.video_export:
            sys.stdout.write("Reading Video Frame: {} / {}\r".format(vid.at(), mark_out))
            sys.stdout.flush()
            
            out_vid.write(frame)
            
            if vid.next():
                reprojerror_list = compareReproj(frame, vid.at(), mapper_xml, trainer_xml, reprojerror_list, cfg)
                mapper_xml.next()
            else:
                calReprojList(reprojerror_list)
                print "\nend of video"
                break
        else:
            cv2.imshow(window_name, frame)
            key = cv2.waitKey(0)
            showAll = False     # toggle to show all training points in one frame
                
            # controls
            if key == Key.esc:
                print "\nexiting."
                break
            elif key == Key.right:
                if vid.next():
                    mapper_xml.next()
                else:
                    if lastframe is False:
                        print "\nEnd of video"
                        calReprojList(reprojerror_list)
                    lastframe = True
                    
            elif key == Key.left:
                if vid.back():
                    mapper_xml.back()
            
            elif key == Key.enter:
                while True:
                    reprojerror_list = compareReproj(frame, vid.at(), mapper_xml, trainer_xml, reprojerror_list, cfg)
                    cv2.imshow(window_name, frame)
                    
                    if vid.next():
                        mapper_xml.next()
                        frame = vid.frame()
                    
                    # break when over
                    else: break
                
                calReprojList(reprojerror_list)
                print "\nFast forwarded to end of video"
                
                if args.compare_export:
                    print "Output to file"
                    writeFile(args.compare_export, reprojerror_list)
                break
            
            elif key == Key.space:
                ''' TODO: display all training points, may be abandoned
                problems:
                frame is not refreshed after imshow
                if showAll is False:
                    displayTrainPts(frame, mark_in, mark_out, trainer_xml, cfg)
                    #
                    #except:
                    #    print "Error in displaying training points. Exiting..."
                    #    return 1
                    #
                    
                    showAll = True
                else:
                    frame, reprojerror_list = compareReproj(frame, vid.at(), mapper_xml, trainer_xml, reprojerror_list, cfg)
                    showAll = False
                '''
                pass
    
    # clean up
    vid.release()
    if args.video_export:
        out_vid.release()
    else:
        cv2.destroyAllWindows()
        
    return 0
Beispiel #4
0
def main(sysargs):
    # settings
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.config, group="trainer")
    max_clicks = args.clicks or cfg.default_clicks
    window_name = "EagleEye Trainer"
    
    if "help" in args:
        usage()
        return 0
    
    # grab marks from args
    if len(args) > 5:
        mark_in = args[4]
        mark_out = args[5]
        
        # test integer-ness
        try: int(mark_in) and int(mark_out)
        except: 
            usage()
            return 1
        
    elif len(args) > 3:
        ret, mark_in, mark_out = marker_tool(args[1], cfg.buffer_size, window_name)
        if not ret:
            print "Not processing - exiting."
            return 1
    else:
        usage()
        return 1
    
    ## clicking time!
    cropped_total = mark_out - mark_in
    print "video cropped at:", mark_in, "to", mark_out, "- ({} frames)".format(cropped_total)
    
    # clicking function
    def on_mouse(event, x, y, flags, params):
        # left click to mark
        if event == cv2.EVENT_LBUTTONDOWN:
            params['pos'] = (x, y)
            params['status'] = Status.record
            
        # right click to skip
        elif event == cv2.EVENT_RBUTTONDOWN:
            params['status'] = Status.skip
    
    # working variables
    params = {'status': Status.wait, 'pos': None}
    write_xml = False
    textstatus = ""
    dataQuality = 0   # 0 = good, >0 = bad/potentially bad
    
    # default right side (buttonside)
    if cfg.dual_mode:
        lens = Theta.Right
        trainer_points = {Theta.Right:{}, Theta.Left:{}}
    else: # both sides otherwise
        lens = Theta.Both
        trainer_points = {Theta.Both:{}}
    
    print "Minimum reflectors: {} | Ignore Negative xyz: {}".format(cfg.min_reflectors, cfg.check_negatives)
        
    # load video (again)
    in_vid = BuffSplitCap(args[1], crop=(0,0,0,0), rotate=BuffSplitCap.r0, buff_max=cfg.buffer_size)
    in_vid.restrict(mark_in, mark_out)
    
    # load csv (with appropriate ratio)
    in_csv = Memset(args[2])
    in_csv.restrict()
    in_csv.setRatio(cropped_total)
    
    # test for marker data
    if len(in_csv.row()) < 10:
        print "This CSV contains no marker data!\nAborting."
        return 1
    
    # status
    print ""
    print "Writing to:", args[3]
    print "Number of clicks at:", max_clicks
    print ""
    
    cv2.namedWindow(window_name)
    cv2.setMouseCallback(window_name, on_mouse, params)
    
    # grab clicks (Process 2)
    while in_vid.isOpened():
        frame = in_vid.frame(side=lens)
        
        sys.stdout.write(in_vid.status() + " | Clicks {} / {}\r".format(
                                                len(trainer_points[lens]), max_clicks))
        sys.stdout.flush()
        
        # prepare CSV data, click data
        tx = float(in_csv.row()[2])
        ty = float(in_csv.row()[3])
        tz = float(in_csv.row()[4])
        rx = float(in_csv.row()[5])
        ry = float(in_csv.row()[6])
        rz = float(in_csv.row()[7])
        
        # data quality status
        visible = int(in_csv.row()[9])
        max_visible = int(in_csv.row()[8])
        
        # status text to write
        textrow = "VICON - x: {:.4f} y: {:.4f} z: {:.4f} | rx: {:.4f} ry: {:.4f} rz: {:.4f}".format(tx, ty, tz, rx, ry, rz)
        textquality = "Visible: {} , Max Visible: {}".format(visible, max_visible)
        textstatus = "{} | {}/{} clicks".format(in_vid.status(), len(trainer_points[lens]), max_clicks)
        
        if lens == Theta.Left:
            textstatus += " - back side"
        elif lens == Theta.Right:
            textstatus += " - button side"
        #else none, no lens split
        
        # if data is qualified bad, reduce timeout by one
        if dataQuality > 0:
            dataQuality -= 1
        
        if dataQuality == 0:
            dataStatus = " - Good data!!"
            dataStatus_colour = (0, 255, 0) # green
        else:
            dataStatus = " - Potentially bad data (wait {})".format(dataQuality)
            dataStatus_colour = (0, 255, 255) # yellow
        
        # Data tests
        # values must be above 0 and minimum reflectors
        if (cfg.check_negatives and (tx <= 0 or ty <= 0 or tz <= 0)) \
                or visible < cfg.min_reflectors:
            dataStatus = " - Bad data!!"
            dataStatus_colour = (0, 0, 255) # red
            
            if cfg.ignore_baddata:
                dataStatus += " Ignored."
                dataQuality = 1 + cfg.quality_delay
        
        # draw the trainer dot (if applicable)
        if in_vid.at() in trainer_points[lens]:
            cv2.circle(frame, trainer_points[lens][in_vid.at()][0], 1, cfg.dot_colour, 2)
            cv2.circle(frame, trainer_points[lens][in_vid.at()][0], 15, cfg.dot_colour, 1)
        
        # draw text and show
        displayText(frame, textrow, top=True)
        displayText(frame, textquality)
        displayText(frame, textstatus)
        displayText(frame, dataStatus, endl=True, colour=dataStatus_colour)
        
        cv2.imshow(window_name, frame)
        
        # pause for input
        while params['status'] == Status.wait:
            key = cv2.waitKey(10)
            if key == Key.esc:
                params['status'] = Status.stop
            elif key == Key.enter:
                write_xml = True
                params['status'] = Status.stop
            elif key == Key.right:
                params['status'] = Status.skip
            elif key == Key.left:
                params['status'] = Status.back
            elif key == Key.backspace:
                params['status'] = Status.remove
            elif Key.char(key, '1') and cfg.dual_mode:
                params['status'] = Status.still
                lens = Theta.Left
            elif Key.char(key, '2') and cfg.dual_mode:
                params['status'] = Status.still
                lens = Theta.Right
            
        # catch exit status
        if params['status'] == Status.stop:
            print "\nprocess aborted!"
            break
        
        # write data
        if params['status'] == Status.record \
                and len(trainer_points[lens]) != max_clicks: # TODO: does this disable recording clicks on the last frame
                
            if dataQuality == 0:
                trainer_points[lens][in_vid.at()] = (params['pos'], in_csv.row()[2:5], in_csv.row()[8:10])
            params['status'] = Status.skip
        
        # or remove it
        elif params['status'] == Status.remove \
                and in_vid.at() in trainer_points[lens]:
            del trainer_points[lens][in_vid.at()]
            print "\nremoved dot"
        
        # load next csv frame
        if params['status'] == Status.skip:
            if in_vid.next():
                in_csv.next()
            else:
                write_xml = True
                print "\nend of video: {}/{}".format(in_vid.at() -1, mark_out -1)
                break
        
        # or load previous csv frame
        elif params['status'] == Status.back:
            if in_vid.back():
                in_csv.back()
        
        # reset status
        params['status'] = Status.wait
    
    # clean up
    cv2.destroyAllWindows()
    
    
    ## write xml
    if write_xml:
        out_xml = XMLWriter(args[3])
        out_xml.declaration()
        doc = out_xml.start("TrainingSet")
        
        # source information
        out_xml.start("video", mark_in=str(mark_in), mark_out=str(mark_out))
        out_xml.data(os.path.basename(args[1]))
        out_xml.end()
        out_xml.element("csv", os.path.basename(args[2]))
        
        # training point data
        for lens in trainer_points:
            if lens == Theta.Right:
                out_xml.start("buttonside", points=str(len(trainer_points[lens])))
            elif lens == Theta.Left:
                out_xml.start("backside", points=str(len(trainer_points[lens])))
            else: # non dualmode
                out_xml.start("frames", points=str(len(trainer_points[lens])))
            
            for i in trainer_points[lens]:
                pos, row, markers = trainer_points[lens][i]
                x, y = pos
                
                out_xml.start("frame", num=str(i))
                out_xml.element("plane", 
                                x=str(x), 
                                y=str(y))
                out_xml.element("vicon", 
                                x=str(row[0]), y=str(row[1]), z=str(row[2]))
                out_xml.element("visibility", 
                                visibleMax=str(markers[0]), 
                                visible=str(markers[1]))
                out_xml.end()
                
            out_xml.end() # frames
        
        # clean up
        out_xml.close(doc)
        
        print "Data was written."
    else:
        print "No data was written"
    
    print "\nDone."
    return 0
Beispiel #5
0
def main(sysargs):
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.cfg, group="compare")
    window_name = "EagleEye Comparator"

    if "help" in args:
        usage()
        return 0

    # grab marks from args
    if len(args) > 5:
        mark_in = args[4]
        mark_out = args[5]

        # test integer-ness
        try:
            int(mark_in) and int(mark_out)
        except:
            usage()
            return 1

    # or grab them from a marker tool
    elif len(args) > 3:
        ret, mark_in, mark_out = marker_tool(args[1], 50, window_name)
        if not ret:
            print "Not processing - exiting."
            return 1
    else:
        usage()
        return 1

    # open video files
    vid = BuffSplitCap(args[1], buff_max=cfg.buffer_size)
    xml1 = Xmlset(args[2])
    xml2 = Xmlset(args[3])

    # trim the video
    vid.restrict(mark_in, mark_out)

    # trim the CSV
    cropped_total = mark_out - mark_in
    xml1.setRatio(cropped_total)
    xml2.setRatio(cropped_total
                  )  # should be 1.0 (total frames should be the same as video)
    print 'xml1 ratio:', xml1.ratio()
    print 'xml2 ratio:', xml2.ratio()

    # open export (if specified)
    if 'export' in args:
        in_fps = vid.get(cv2.CAP_PROP_FPS)
        in_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
                   int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))

        out_vid = cv2.VideoWriter(args.export,
                                  cv2.VideoWriter_fourcc(*cfg.fourcc), in_fps,
                                  in_size)
    else:
        cv2.namedWindow(window_name)

    while vid.isOpened():
        sys.stdout.write(vid.status() + "\r")
        sys.stdout.flush()

        frame = vid.frame()

        # draw objects from each dataset
        for name in xml1.data():
            draw(frame, xml1.data()[name], cfg.xml1_colour)
        for name in xml2.data():
            draw(frame, xml2.data()[name], cfg.xml2_colour)

        # print status to screen
        displayText(frame, vid.status(), top=True)
        displayText(frame,
                    "{}: {}".format(os.path.basename(args[2]), xml1.status()),
                    colour=cfg.xml1_colour)
        displayText(frame,
                    "{}: {}".format(os.path.basename(args[3]), xml2.status()),
                    colour=cfg.xml2_colour)

        # export or navigate
        if 'export' in args:
            sys.stdout.write("{}/{}\r".format(vid.at(), cropped_total))
            sys.stdout.flush()

            out_vid.write(frame)

            if vid.next():
                xml1.next()
                xml2.next()
            else:
                print "\nend of video"
                break
        else:
            cv2.imshow(window_name, frame)
            key = cv2.waitKey(0)

            # controls
            if key == Key.esc:
                print "\nexiting."
                break
            elif key == Key.right:
                if vid.next():
                    xml1.next()
                    xml2.next()
            elif key == Key.left:
                if vid.back():
                    xml1.back()
                    xml2.back()

    # clean up
    vid.release()
    if 'export' in args:
        out_vid.release()
    else:
        cv2.destroyAllWindows()

    return 0
Beispiel #6
0
def main(sysargs):
    # settings
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.config, group="trainer")
    max_clicks = args.clicks or cfg.default_clicks
    window_name = "EagleEye Trainer"

    if "help" in args:
        usage()
        return 0

    # grab marks from args
    if len(args) > 5:
        mark_in = args[4]
        mark_out = args[5]

        # test integer-ness
        try:
            int(mark_in) and int(mark_out)
        except:
            usage()
            return 1

    elif len(args) > 3:
        ret, mark_in, mark_out = marker_tool(args[1], cfg.buffer_size,
                                             window_name)
        if not ret:
            print "Not processing - exiting."
            return 1
    else:
        usage()
        return 1

    ## clicking time!
    cropped_total = mark_out - mark_in
    print "video cropped at:", mark_in, "to", mark_out, "- ({} frames)".format(
        cropped_total)

    # clicking function
    def on_mouse(event, x, y, flags, params):
        # left click to mark
        if event == cv2.EVENT_LBUTTONDOWN:
            params['pos'] = (x, y)
            params['status'] = Status.record

        # right click to skip
        elif event == cv2.EVENT_RBUTTONDOWN:
            params['status'] = Status.skip

    # working variables
    params = {'status': Status.wait, 'pos': None}
    write_xml = False
    textstatus = ""
    dataQuality = 0  # 0 = good, >0 = bad/potentially bad

    # default right side (buttonside)
    if cfg.dual_mode:
        lens = Theta.Right
        trainer_points = {Theta.Right: {}, Theta.Left: {}}
    else:  # both sides otherwise
        lens = Theta.Both
        trainer_points = {Theta.Both: {}}

    print "Minimum reflectors: {} | Ignore Negative xyz: {}".format(
        cfg.min_reflectors, cfg.check_negatives)

    # load video (again)
    in_vid = BuffSplitCap(args[1],
                          crop=(0, 0, 0, 0),
                          rotate=BuffSplitCap.r0,
                          buff_max=cfg.buffer_size)
    in_vid.restrict(mark_in, mark_out)

    # load csv (with appropriate ratio)
    in_csv = Memset(args[2])
    in_csv.restrict()
    in_csv.setRatio(cropped_total)

    # test for marker data
    if len(in_csv.row()) < 10:
        print "This CSV contains no marker data!\nAborting."
        return 1

    # status
    print ""
    print "Writing to:", args[3]
    print "Number of clicks at:", max_clicks
    print ""

    cv2.namedWindow(window_name)
    cv2.setMouseCallback(window_name, on_mouse, params)

    # grab clicks (Process 2)
    while in_vid.isOpened():
        frame = in_vid.frame(side=lens)

        sys.stdout.write(in_vid.status() + " | Clicks {} / {}\r".format(
            len(trainer_points[lens]), max_clicks))
        sys.stdout.flush()

        # prepare CSV data, click data
        tx = float(in_csv.row()[2])
        ty = float(in_csv.row()[3])
        tz = float(in_csv.row()[4])
        rx = float(in_csv.row()[5])
        ry = float(in_csv.row()[6])
        rz = float(in_csv.row()[7])

        # data quality status
        visible = int(in_csv.row()[9])
        max_visible = int(in_csv.row()[8])

        # status text to write
        textrow = "VICON - x: {:.4f} y: {:.4f} z: {:.4f} | rx: {:.4f} ry: {:.4f} rz: {:.4f}".format(
            tx, ty, tz, rx, ry, rz)
        textquality = "Visible: {} , Max Visible: {}".format(
            visible, max_visible)
        textstatus = "{} | {}/{} clicks".format(in_vid.status(),
                                                len(trainer_points[lens]),
                                                max_clicks)

        if lens == Theta.Left:
            textstatus += " - back side"
        elif lens == Theta.Right:
            textstatus += " - button side"
        #else none, no lens split

        # if data is qualified bad, reduce timeout by one
        if dataQuality > 0:
            dataQuality -= 1

        if dataQuality == 0:
            dataStatus = " - Good data!!"
            dataStatus_colour = (0, 255, 0)  # green
        else:
            dataStatus = " - Potentially bad data (wait {})".format(
                dataQuality)
            dataStatus_colour = (0, 255, 255)  # yellow

        # Data tests
        # values must be above 0 and minimum reflectors
        if (cfg.check_negatives and (tx <= 0 or ty <= 0 or tz <= 0)) \
                or visible < cfg.min_reflectors:
            dataStatus = " - Bad data!!"
            dataStatus_colour = (0, 0, 255)  # red

            if cfg.ignore_baddata:
                dataStatus += " Ignored."
                dataQuality = 1 + cfg.quality_delay

        # draw the trainer dot (if applicable)
        if in_vid.at() in trainer_points[lens]:
            cv2.circle(frame, trainer_points[lens][in_vid.at()][0], 1,
                       cfg.dot_colour, 2)
            cv2.circle(frame, trainer_points[lens][in_vid.at()][0], 15,
                       cfg.dot_colour, 1)

        # draw text and show
        displayText(frame, textrow, top=True)
        displayText(frame, textquality)
        displayText(frame, textstatus)
        displayText(frame, dataStatus, endl=True, colour=dataStatus_colour)

        cv2.imshow(window_name, frame)

        # pause for input
        while params['status'] == Status.wait:
            key = cv2.waitKey(10)
            if key == Key.esc:
                params['status'] = Status.stop
            elif key == Key.enter:
                write_xml = True
                params['status'] = Status.stop
            elif key == Key.right:
                params['status'] = Status.skip
            elif key == Key.left:
                params['status'] = Status.back
            elif key == Key.backspace:
                params['status'] = Status.remove
            elif Key.char(key, '1') and cfg.dual_mode:
                params['status'] = Status.still
                lens = Theta.Left
            elif Key.char(key, '2') and cfg.dual_mode:
                params['status'] = Status.still
                lens = Theta.Right

        # catch exit status
        if params['status'] == Status.stop:
            print "\nprocess aborted!"
            break

        # write data
        if params['status'] == Status.record \
                and len(trainer_points[lens]) != max_clicks: # TODO: does this disable recording clicks on the last frame

            if dataQuality == 0:
                trainer_points[lens][in_vid.at()] = (params['pos'],
                                                     in_csv.row()[2:5],
                                                     in_csv.row()[8:10])
            params['status'] = Status.skip

        # or remove it
        elif params['status'] == Status.remove \
                and in_vid.at() in trainer_points[lens]:
            del trainer_points[lens][in_vid.at()]
            print "\nremoved dot"

        # load next csv frame
        if params['status'] == Status.skip:
            if in_vid.next():
                in_csv.next()
            else:
                write_xml = True
                print "\nend of video: {}/{}".format(in_vid.at() - 1,
                                                     mark_out - 1)
                break

        # or load previous csv frame
        elif params['status'] == Status.back:
            if in_vid.back():
                in_csv.back()

        # reset status
        params['status'] = Status.wait

    # clean up
    cv2.destroyAllWindows()

    ## write xml
    if write_xml:
        out_xml = XMLWriter(args[3])
        out_xml.declaration()
        doc = out_xml.start("TrainingSet")

        # source information
        out_xml.start("video", mark_in=str(mark_in), mark_out=str(mark_out))
        out_xml.data(os.path.basename(args[1]))
        out_xml.end()
        out_xml.element("csv", os.path.basename(args[2]))

        # training point data
        for lens in trainer_points:
            if lens == Theta.Right:
                out_xml.start("buttonside",
                              points=str(len(trainer_points[lens])))
            elif lens == Theta.Left:
                out_xml.start("backside",
                              points=str(len(trainer_points[lens])))
            else:  # non dualmode
                out_xml.start("frames", points=str(len(trainer_points[lens])))

            for i in trainer_points[lens]:
                pos, row, markers = trainer_points[lens][i]
                x, y = pos

                out_xml.start("frame", num=str(i))
                out_xml.element("plane", x=str(x), y=str(y))
                out_xml.element("vicon",
                                x=str(row[0]),
                                y=str(row[1]),
                                z=str(row[2]))
                out_xml.element("visibility",
                                visibleMax=str(markers[0]),
                                visible=str(markers[1]))
                out_xml.end()

            out_xml.end()  # frames

        # clean up
        out_xml.close(doc)

        print "Data was written."
    else:
        print "No data was written"

    print "\nDone."
    return 0
Beispiel #7
0
def main(sysargs):
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.cfg, group="compare")
    window_name = "EagleEye Comparator"
    
    if "help" in args:
        usage()
        return 0
    
    # grab marks from args
    if len(args) > 5:
        mark_in = args[4]
        mark_out = args[5]
        
        # test integer-ness
        try: int(mark_in) and int(mark_out)
        except: 
            usage()
            return 1
    
    # or grab them from a marker tool
    elif len(args) > 3:
        ret, mark_in, mark_out = marker_tool(args[1], 50, window_name)
        if not ret:
            print "Not processing - exiting."
            return 1
    else:
        usage()
        return 1
    
    # open video files
    vid = BuffSplitCap(args[1], buff_max=cfg.buffer_size)
    xml1 = Xmlset(args[2])
    xml2 = Xmlset(args[3])
    
    # trim the video
    vid.restrict(mark_in, mark_out)
    
    # trim the CSV
    cropped_total = mark_out - mark_in
    xml1.setRatio(cropped_total)
    xml2.setRatio(cropped_total) # should be 1.0 (total frames should be the same as video)
    print 'xml1 ratio:', xml1.ratio()
    print 'xml2 ratio:', xml2.ratio()
    
    # open export (if specified)
    if 'export' in args:
        in_fps  = vid.get(cv2.CAP_PROP_FPS)
        in_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
                   int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))

        out_vid = cv2.VideoWriter(args.export,
                                  cv2.VideoWriter_fourcc(*cfg.fourcc),
                                  in_fps, in_size)
    else:
        cv2.namedWindow(window_name)
    
    while vid.isOpened():
        sys.stdout.write(vid.status() + "\r")
        sys.stdout.flush()
        
        frame = vid.frame()
        
        # draw objects from each dataset
        for name in xml1.data():
            draw(frame, xml1.data()[name], cfg.xml1_colour)
        for name in xml2.data():
            draw(frame, xml2.data()[name], cfg.xml2_colour)
        
        # print status to screen
        displayText(frame, vid.status(), top=True)
        displayText(frame, "{}: {}".format(os.path.basename(args[2]), xml1.status()), colour=cfg.xml1_colour)
        displayText(frame, "{}: {}".format(os.path.basename(args[3]), xml2.status()), colour=cfg.xml2_colour)
        
        # export or navigate
        if 'export' in args:
            sys.stdout.write("{}/{}\r".format(vid.at(), cropped_total))
            sys.stdout.flush()
            
            out_vid.write(frame)
            
            if vid.next():
                xml1.next()
                xml2.next()
            else:
                print "\nend of video"
                break
        else:
            cv2.imshow(window_name, frame)
            key = cv2.waitKey(0)
            
            # controls
            if key == Key.esc:
                print "\nexiting."
                break
            elif key == Key.right:
                if vid.next():
                    xml1.next()
                    xml2.next()
            elif key == Key.left:
                if vid.back():
                    xml1.back()
                    xml2.back()
    
    # clean up
    vid.release()
    if 'export' in args:
        out_vid.release()
    else:
        cv2.destroyAllWindows()
    
    return 0
Beispiel #8
0
def main(sysargs):
    args = EasyArgs(sysargs)
    cfg = EasyConfig(args.cfg, group="compare_trainer")
    window_name = "EagleEye Comparator"

    if "help" in args:
        usage()
        return 0

    # grab marks from args
    if len(args) > 5:
        mark_in = args[4]
        mark_out = args[5]

        # test integer-ness
        try:
            int(mark_in) and int(mark_out)
        except:
            usage()
            return 1

    # or grab them from a marker tool
    elif len(args) > 3:
        ret, mark_in, mark_out = marker_tool(args[1], 50, window_name)
        if not ret:
            print "Not processing - exiting."
            return 1
    else:
        usage()
        return 1

    # determine sides
    side = Theta.resolve(args.side or 'buttonside')

    # open inouts files
    vid = BuffSplitCap(args[1], buff_max=cfg.buffer_size, side=Theta.Both)
    mapper_xml = Xmlset(args[2],
                        offset=cfg.offset,
                        offmode=Xmlset.offset_mode(cfg.offset_mode))
    trainer_xml = Xmltrainer(args[3], side=side)
    reprojerror_list = {}  # list of reprojection error of all frames
    lastframe = False

    # reject mapper_xml if it doesn't contain the trainer_target
    if cfg.trainer_target not in mapper_xml.data(0):
        print "Mapping file must contain training target:", cfg.trainer_target
        print "Target names in mapping file:", mapper_xml.data(0)
        print "Please specifiy correct target name in config"
        return 1

    # also reject if it's lens data doesn't match the trainer_xml
    _test_lens = mapper_xml.data(0)[cfg.trainer_target]['lens']
    if (_test_lens == Theta.NonDual and side != Theta.NonDual) \
            or (side != Theta.NonDual and _test_lens == Theta.NonDual):
        print "Mapping file doesn't match training file"
        print "map:", Theta.name(_test_lens), "trainer:", Theta.name(side)
        return 1

    # sync the video and xml
    vid.restrict(mark_in, mark_out)
    cropped_total = mark_out - mark_in
    mapper_xml.setRatio(cropped_total)

    # status
    print "ratio at:", mapper_xml.ratio()
    print "offset by:", cfg.offset, "in", cfg.offset_mode, "mode"
    print ""

    # open export (if specified)
    if args.video_export:
        in_fps = vid.get(cv2.CAP_PROP_FPS)
        in_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
                   int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))

        out_vid = cv2.VideoWriter(args.video_export,
                                  cv2.VideoWriter_fourcc(*cfg.fourcc), in_fps,
                                  vid.shape[:2])
        print "exporting to:", args.video_export
    else:
        cv2.namedWindow(window_name)
        print "interactive mode"

    # main loop
    while vid.isOpened():
        frame = vid.frame()
        reprojerror_list = compareReproj(frame, vid.at(), mapper_xml,
                                         trainer_xml, reprojerror_list, cfg)

        # export or navigate
        if args.video_export:
            sys.stdout.write("Reading Video Frame: {} / {}\r".format(
                vid.at(), mark_out))
            sys.stdout.flush()

            out_vid.write(frame)

            if vid.next():
                reprojerror_list = compareReproj(frame, vid.at(), mapper_xml,
                                                 trainer_xml, reprojerror_list,
                                                 cfg)
                mapper_xml.next()
            else:
                calReprojList(reprojerror_list)
                print "\nend of video"
                break
        else:
            cv2.imshow(window_name, frame)
            key = cv2.waitKey(0)
            showAll = False  # toggle to show all training points in one frame

            # controls
            if key == Key.esc:
                print "\nexiting."
                break
            elif key == Key.right:
                if vid.next():
                    mapper_xml.next()
                else:
                    if lastframe is False:
                        print "\nEnd of video"
                        calReprojList(reprojerror_list)
                    lastframe = True

            elif key == Key.left:
                if vid.back():
                    mapper_xml.back()

            elif key == Key.enter:
                while True:
                    reprojerror_list = compareReproj(frame, vid.at(),
                                                     mapper_xml, trainer_xml,
                                                     reprojerror_list, cfg)
                    cv2.imshow(window_name, frame)

                    if vid.next():
                        mapper_xml.next()
                        frame = vid.frame()

                    # break when over
                    else:
                        break

                calReprojList(reprojerror_list)
                print "\nFast forwarded to end of video"

                if args.compare_export:
                    print "Output to file"
                    writeFile(args.compare_export, reprojerror_list)
                break

            elif key == Key.space:
                ''' TODO: display all training points, may be abandoned
                problems:
                frame is not refreshed after imshow
                if showAll is False:
                    displayTrainPts(frame, mark_in, mark_out, trainer_xml, cfg)
                    #
                    #except:
                    #    print "Error in displaying training points. Exiting..."
                    #    return 1
                    #
                    
                    showAll = True
                else:
                    frame, reprojerror_list = compareReproj(frame, vid.at(), mapper_xml, trainer_xml, reprojerror_list, cfg)
                    showAll = False
                '''
                pass

    # clean up
    vid.release()
    if args.video_export:
        out_vid.release()
    else:
        cv2.destroyAllWindows()

    return 0