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
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
def writeCSV(frames, path):
with open(path, "wb") as csvFile:
c = csv.writer(csvFile)
for f in frames.keys():
for key in frames[f]:
c.writerow([f, # frame number
frames[f][key]["map_x"], # mapped centroid x
frames[f][key]["map_y"], # mapped centroid y
frames[f][key]["ann_x"], # annotated centroid x
frames[f][key]["ann_y"], # annotated centroid y
Theta.name(frames[f][key]["lens"]), # lens - {buttonside, backside, both}
frames[f][key]["err"]]) # reprojection error
def writeXML(frames, path, args):
out_xml = XMLWriter(path)
out_xml.declaration()
doc = out_xml.start("AnnotationEvaluation")
# source information
out_xml.element("video", mark_in=str(args[4]), mark_out=str(args[5]))
out_xml.element("mapper", os.path.basename(args[1]))
out_xml.element("annotation", os.path.basename(args[2]))
out_xml.element("comparison", mean_err=str(calMean(frames)))
# compared points
out_xml.start("frames", total=str((args[5]-1) - (args[4]+1)+1), compared=str(len(frames)))
for f in frames.keys():
out_xml.start("frame", num=str(f))
for key in frames[f]:
out_xml.start("object", lens=Theta.name(frames[f][key]["lens"]), name=key, err=str(frames[f][key]["err"]))
out_xml.element("annotatedCentroid", x=str(frames[f][key]["ann_x"]), y=str(frames[f][key]["ann_y"]))
out_xml.element("mappedCentroid", x=str(frames[f][key]["map_x"]), y=str(frames[f][key]["map_y"]))
out_xml.end() # object
out_xml.end() # frames
# clean up
out_xml.close(doc)
def main(sysargs):
args = EasyArgs(sysargs)
cfg = EasyConfig(args.config, group="mapper")
if "help" in args:
usage()
return 0
if ["calib", "trainer", "output"] not in args:
print "Must specify: -calib, -trainer, -output files"
usage()
return 1
if len(args) == 1:
print "Not enough input CSV files"
usage()
return 1
if len(args) > 2 and args.map_trainer_mode:
print "Too many CSV for trainer-mapping mode"
usage()
return 1
if "force_side" in args:
side = Theta.resolve(args.force_side)
if side == Theta.NonDual:
print "Invalid force_side argument:", args.force_side
usage()
return 1
# set side overrides
force_button = (side == Theta.Buttonside)
force_back = not force_button
else:
force_button = force_back = False
# working vars
csvs = {}
frame_num = 0
# open source CSV datasets
for i in range(1, len(args)):
print args[i]
csvs[i] = Memset(args[i])
# reel all the files up to their first flash
for i in csvs:
csvs[i].restrict()
if len(csvs[i].row()) < 10:
print "CSV file:", args[i], "contains no marker data!\nAborting."
return 1
# override csv name
if args.map_trainer_mode:
csvs[1]._name = cfg.trainer_target
# open calib files
try:
buttonside = Mapper(args.calib, args.trainer, cfg, Theta.Buttonside)
backside = Mapper(args.calib, args.trainer, cfg, Theta.Backside)
except Exception as e:
print e.message
return 1
count = {'bts': 0, 'bks': 0, 'rej': 0}
# open destination XML
with open(args.output, "w") as xmlfile:
w = XMLWriter(xmlfile)
w.declaration()
xmlfile.write(
"<!DOCTYPE dataset SYSTEM \"http://storage.gwillz.com.au/eagleeye_v2.dtd\">"
)
doc = w.start("dataset")
# iterates until all vicon csvs reach eof
while True:
w.start("frameInformation")
w.element("frame", number=str(frame_num))
#iterates through each vicon csv at the current row
for i in csvs:
c = csvs[i]
# determine marker quality
try:
max_reflectors = int(c.row()[8])
visible_reflectors = int(c.row()[9])
except:
print "Error in reading quality at row {}".format(i)
return 1
try:
# read VICON data
x = float(c.row()[2])
y = float(c.row()[3])
z = float(c.row()[4])
# TODO: is this necessary? We never use the object's rotation
rx = float(c.row()[5])
ry = float(c.row()[6])
rz = float(c.row()[7])
except:
print "Error occurred when converting VICON data at row {}".format(
i)
return 1
# run projection/mapping on VICON data
if backside.isVisible((x, y, z)):
points = backside.reprojpts((x, y, z))
side = 'backside'
count['bks'] += 1
elif buttonside.isVisible((x, y, z)):
points = buttonside.reprojpts((x, y, z))
points[
0] += 960 # add 960 to x for rightside points (Ricoh video is both frames side by side)
side = 'buttonside'
count['bts'] += 1
# TODO don't write non visible dots?
else:
points = [0., 0.]
count['rej'] += 1
# TODO: Change DTD and double check with Manjung
w.start("object",
id=str(i),
name=c.name(),
lens=Theta.name(side))
w.element("boxinfo",
height="99",
width="99",
x=str(points[0] - 50),
y=str(points[1] - 50))
w.element("centroid",
x=str(points[0]),
y=str(points[1]),
rx=str(rx),
ry=str(ry),
rz=str(rz))
w.element("visibility",
visible=str(visible_reflectors),
visibleMax=str(max_reflectors))
w.end()
w.end()
# test end of files
eofs = 0
for i in csvs:
if csvs[i].eof(): eofs += 1
if len(csvs) == eofs:
print "end of all datasets"
break
# load next vicon frame
frame_num += 1
for i in csvs:
csvs[i].next()
w.close(doc)
print "\nbuttonside", count['bts']
print "backside", count['bks']
print "rejected", count['rej']
return 0
def main(sysargs):
args = EasyArgs(sysargs)
global scale, img_h
if 'help' in args:
usage()
return 0
# arg sanity checks
if len(args) < 3:
usage()
return 1
# default args
height = args.height or 3000 # milimetres
width = args.width or 8000 # milimetres
max_height = args.max_height or 400 # pixels
cfg = EasyConfig(args.config, group="mapper")
# working vars
scale = float(max_height) / height
img_h = int(height * scale)
img_w = int(width * scale)
# open window
window_name = "Tracer"
cv2.namedWindow(window_name)
# settings
font = cv2.FONT_HERSHEY_SIMPLEX
text_size = 0.5
colour = (255, 255, 255)
# a frame to paste the trace on
baseframe = np.zeros((img_h, img_w, 3), np.uint8)
# load appropriate mappers
if not args.singlemode:
mappers = [
Mapper(args[1], args[2], cfg, Theta.Buttonside),
Mapper(args[1], args[2], cfg, Theta.Backside)
]
else:
mappers = [Mapper(args[1], args[2], cfg, Theta.NonDual)]
for m in mappers:
colour = (55 + random.random() * 200, 55 + random.random() * 200,
55 + random.random() * 200)
# calculate world camera pos
Rt = np.matrix(m.R).T
tv = -Rt.dot(np.matrix(m.tv))
dir = unit(cv2.Rodrigues(-Rt)[0])
#dir = unit(-Rt.dot(np.array([[0.], [0.], [1.]])))
unvis = 0
pts = m.obj_pts
for i in pts:
# draw circle around it if not-visible
x, y, z = i
p = (int(x * scale), img_h - int(y * scale))
cv2.circle(baseframe, p, 1, colour, 2)
# circle the point if not visible
if not m.isVisible((x, y, z)):
unvis += 1
cv2.circle(baseframe, p, 6, colour, 1)
x, y, z = tv
pt1 = (int(x * scale), img_h - int(y * scale))
cv2.circle(baseframe, pt1, 1, colour, 2)
cv2.circle(baseframe, pt1, 10, colour, 1)
# draw direction of lens
#draw_arrow(baseframe, tv, dir[0], colour)
# and it's FOV
#draw_arrow(baseframe, tv, dir.dot(m.half_fov), colour, length=375)
#draw_arrow(baseframe, tv, dir.dot(-m.half_fov), colour, length=375)
# and some text data stuff
displayText(baseframe,
"{}: {}, {}, {}".format(Theta.name(m.mode), *tv),
colour=colour)
displayText(baseframe,
" visible: {}/{}".format(len(pts) - unvis, len(pts)),
endl=True,
colour=colour)
# clean up
cv2.imshow(window_name, baseframe)
cv2.waitKey(0)
if args.export:
cv2.imwrite(args.export, baseframe)
cv2.destroyAllWindows()
print "\ndone"
return 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
def compareReproj(cvframe, vidframe_no, mapper_xml, trainer_xml, reprojerror_list, cfg):
xmlframe_no = mapper_xml.at()
sys.stdout.write("Reading Video Frame: {}".format(vidframe_no) + " | XML Frame number: {}\r".format(xmlframe_no))
sys.stdout.flush()
mapped_object = mapper_xml.data(xmlframe_no)[cfg.trainer_target]
# Prepare Repojected Point
pt1 = (int(float(mapped_object['box']['x'])),
int(float(mapped_object['box']['y'])))
pt2 = (pt1[0] + int(float(mapped_object['box']['width'])),
pt1[1] + int(float(mapped_object['box']['height'])))
centre = (int(float(mapped_object['centre']['x'])),
int(float(mapped_object['centre']['y'])))
visible = int(mapped_object['visibility']['visible'])
max_visible = int(mapped_object['visibility']['visibleMax'])
lens_side = mapped_object['lens']
# Render Reprojected Point
cv2.rectangle(cvframe, pt1, pt2, cfg.mapper_colour, 1)
cv2.circle(cvframe, centre, 1, cfg.mapper_colour, 2)
# Get trainer point if it exists at current frame
vicon_txt = "VICON - x: ?, y: ?, z: ?"
trainer_txt = "Trained Point: x: ?, y: ?"
reprojErr_txt = "Reprojection Error: No Data"
if vidframe_no in trainer_xml.data() and lens_side == trainer_xml.side:
trainer_frame = trainer_xml.data()[vidframe_no]
# fix buttonside trainer points
rightside_offset = 960 if trainer_xml.side == Theta.Right else 0
vicon_txt = "VICON - x: {:.4f}, y: {:.4f}, z: {:.4f}".format(
float(trainer_frame["vicon"]["x"]),
float(trainer_frame["vicon"]["y"]),
float(trainer_frame["vicon"]["z"]))
trainer_txt = "Trained Point: x: {}, y: {}".format(
int(float(trainer_frame["plane"]["x"]) + rightside_offset),
int(float(trainer_frame["plane"]["y"])))
# visualise trainer point
trainer_pt = (int(float(trainer_frame["plane"]["x"]) + rightside_offset),
int(float(trainer_frame["plane"]["y"])))
cv2.circle(cvframe, trainer_pt, 1, cfg.trainer_colour, 2)
# Calculate Reprojection Error at this frame
# Still display bad data reprojection error but not used in calculation of mean
reprojErr = calReprojError(centre, trainer_pt)
reprojErr_txt = "Reprojection Error: {} pixels".format(str(reprojErr))
if cfg.ignore_baddata:
if visible >= cfg.min_reflectors:
reprojerror_list.update({vidframe_no: {
"rms": reprojErr,
"x1": trainer_pt[0],
"y1": trainer_pt[1],
"x2": pt1[0],
"y2": pt1[1]}})
# Display Object Info
frameObj_Txt = "Frame: {} | Trained Object: {} | Comparing: {}".format(
vidframe_no, cfg.trainer_target, Theta.name(trainer_xml.side))
reprojCentroid_txt = "Reprojected Centroid - x: {}, y: {}, on: {}".format(
centre[0], centre[1], Theta.name(lens_side))
visibility_txt = "Visible: {} , Max Visible: {}".format(visible, max_visible)
displayText(cvframe, frameObj_Txt, top=True)
displayText(cvframe, reprojCentroid_txt)
displayText(cvframe, visibility_txt)
dataText = " - Good data!!"
dataText_colour = (0, 255, 0) # green
if visible < cfg.min_reflectors: # for when there isn't a matching trainer
dataText = " - Bad data!!"
dataText_colour = (0, 0, 255) # red
if cfg.ignore_baddata:
dataText += " Ignored."
displayText(cvframe, dataText, endl=True, colour=dataText_colour)
displayText(cvframe, trainer_txt)
displayText(cvframe, vicon_txt)
displayText(cvframe, reprojErr_txt)
return reprojerror_list
def main(sysargs):
args = EasyArgs(sysargs)
cfg = EasyConfig(args.config, group="mapper")
if "help" in args:
usage()
return 0
if ["calib", "trainer", "output"] not in args:
print "Must specify: -calib, -trainer, -output files"
usage()
return 1
if len(args) == 1:
print "Not enough input CSV files"
usage()
return 1
if len(args) > 2 and args.map_trainer_mode:
print "Too many CSV for trainer-mapping mode"
usage()
return 1
if "force_side" in args:
side = Theta.resolve(args.force_side)
if side == Theta.NonDual:
print "Invalid force_side argument:", args.force_side
usage()
return 1
# set side overrides
force_button = (side == Theta.Buttonside)
force_back = not force_button
else:
force_button = force_back = False
# working vars
csvs = {}
frame_num = 0
# open source CSV datasets
for i in range(1, len(args)):
print args[i]
csvs[i] = Memset(args[i])
# reel all the files up to their first flash
for i in csvs:
csvs[i].restrict()
if len(csvs[i].row()) < 10:
print "CSV file:", args[i], "contains no marker data!\nAborting."
return 1
# override csv name
if args.map_trainer_mode:
csvs[1]._name = cfg.trainer_target
# open calib files
try:
buttonside = Mapper(args.calib, args.trainer, cfg, Theta.Buttonside)
backside = Mapper(args.calib, args.trainer, cfg, Theta.Backside)
except Exception as e:
print e.message
return 1
count = {'bts':0, 'bks':0, 'rej':0}
# open destination XML
with open(args.output, "w") as xmlfile:
w = XMLWriter(xmlfile)
w.declaration()
xmlfile.write("<!DOCTYPE dataset SYSTEM \"http://storage.gwillz.com.au/eagleeye_v2.dtd\">")
doc = w.start("dataset")
# main loop
while True:
w.start("frameInformation")
w.element("frame", number=str(frame_num))
for i in csvs:
c = csvs[i]
# determine marker quality
try:
max_reflectors = int(c.row()[8])
visible_reflectors = int(c.row()[9])
except:
print "Error in reading quality at row {}".format(i)
return 1
try:
# read VICON data
x = float(c.row()[2])
y = float(c.row()[3])
z = float(c.row()[4])
# TODO: is this necessary? We never use the object's rotation
rx = float(c.row()[5])
ry = float(c.row()[6])
rz = float(c.row()[7])
except:
print "Error occurred when converting VICON data at row {}".format(i)
return 1
# run projection/mapping on VICON data
if backside.isVisible((x,y,z)):
points = backside.reprojpts((x, y, z))
side = 'backside'
count['bks'] += 1
elif buttonside.isVisible((x,y,z)):
points = buttonside.reprojpts((x, y, z))
points[0] += 960 # add 960 to x for rightside points
side = 'buttonside'
count['bts'] += 1
# TODO don't write non visible dots?
else:
points = [0.,0.]
count['rej'] += 1
# TODO: Change DTD and double check with Manjung
w.start("object", id=str(i), name=c.name(), lens=Theta.name(side))
w.element("boxinfo", height="99", width="99", x=str(points[0]-50), y=str(points[1]-50))
w.element("centroid", x=str(points[0]), y=str(points[1]), rx=str(rx), ry=str(ry), rz=str(rz))
w.element("visibility", visible=str(visible_reflectors), visibleMax=str(max_reflectors))
w.end()
w.end()
# test end of files
eofs = 0
for i in csvs:
if csvs[i].eof(): eofs += 1
if len(csvs) == eofs:
print "end of all datasets"
break
# load next frame
frame_num += 1
for i in csvs:
csvs[i].next()
w.close(doc)
print "\nbuttonside", count['bts']
print "backside", count['bks']
print "rejected", count['rej']
return 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
def compareReproj(cvframe, vidframe_no, mapper_xml, trainer_xml,
reprojerror_list, cfg):
xmlframe_no = mapper_xml.at()
sys.stdout.write("Reading Video Frame: {}".format(vidframe_no) +
" | XML Frame number: {}\r".format(xmlframe_no))
sys.stdout.flush()
mapped_object = mapper_xml.data(xmlframe_no)[cfg.trainer_target]
# Prepare Repojected Point
pt1 = (int(float(mapped_object['box']['x'])),
int(float(mapped_object['box']['y'])))
pt2 = (pt1[0] + int(float(mapped_object['box']['width'])),
pt1[1] + int(float(mapped_object['box']['height'])))
centre = (int(float(mapped_object['centre']['x'])),
int(float(mapped_object['centre']['y'])))
visible = int(mapped_object['visibility']['visible'])
max_visible = int(mapped_object['visibility']['visibleMax'])
lens_side = mapped_object['lens']
# Render Reprojected Point
cv2.rectangle(cvframe, pt1, pt2, cfg.mapper_colour, 1)
cv2.circle(cvframe, centre, 1, cfg.mapper_colour, 2)
# Get trainer point if it exists at current frame
vicon_txt = "VICON - x: ?, y: ?, z: ?"
trainer_txt = "Trained Point: x: ?, y: ?"
reprojErr_txt = "Reprojection Error: No Data"
if vidframe_no in trainer_xml.data() and lens_side == trainer_xml.side:
trainer_frame = trainer_xml.data()[vidframe_no]
# fix buttonside trainer points
rightside_offset = 960 if trainer_xml.side == Theta.Right else 0
vicon_txt = "VICON - x: {:.4f}, y: {:.4f}, z: {:.4f}".format(
float(trainer_frame["vicon"]["x"]),
float(trainer_frame["vicon"]["y"]),
float(trainer_frame["vicon"]["z"]))
trainer_txt = "Trained Point: x: {}, y: {}".format(
int(float(trainer_frame["plane"]["x"]) + rightside_offset),
int(float(trainer_frame["plane"]["y"])))
# visualise trainer point
trainer_pt = (
int(float(trainer_frame["plane"]["x"]) + rightside_offset),
int(float(trainer_frame["plane"]["y"])))
cv2.circle(cvframe, trainer_pt, 1, cfg.trainer_colour, 2)
# Calculate Reprojection Error at this frame
# Still display bad data reprojection error but not used in calculation of mean
reprojErr = calReprojError(centre, trainer_pt)
reprojErr_txt = "Reprojection Error: {} pixels".format(str(reprojErr))
if cfg.ignore_baddata:
if visible >= cfg.min_reflectors:
reprojerror_list.update({
vidframe_no: {
"rms": reprojErr,
"x1": trainer_pt[0],
"y1": trainer_pt[1],
"x2": pt1[0],
"y2": pt1[1]
}
})
# Display Object Info
frameObj_Txt = "Frame: {} | Trained Object: {} | Comparing: {}".format(
vidframe_no, cfg.trainer_target, Theta.name(trainer_xml.side))
reprojCentroid_txt = "Reprojected Centroid - x: {}, y: {}, on: {}".format(
centre[0], centre[1], Theta.name(lens_side))
visibility_txt = "Visible: {} , Max Visible: {}".format(
visible, max_visible)
displayText(cvframe, frameObj_Txt, top=True)
displayText(cvframe, reprojCentroid_txt)
displayText(cvframe, visibility_txt)
dataText = " - Good data!!"
dataText_colour = (0, 255, 0) # green
if visible < cfg.min_reflectors: # for when there isn't a matching trainer
dataText = " - Bad data!!"
dataText_colour = (0, 0, 255) # red
if cfg.ignore_baddata:
dataText += " Ignored."
displayText(cvframe, dataText, endl=True, colour=dataText_colour)
displayText(cvframe, trainer_txt)
displayText(cvframe, vicon_txt)
displayText(cvframe, reprojErr_txt)
return reprojerror_list
def main(sysargs):
args = EasyArgs(sysargs)
global scale, img_h
if 'help' in args:
usage()
return 0
# arg sanity checks
if len(args) < 3:
usage()
return 1
# default args
height = args.height or 3000 # milimetres
width = args.width or 8000 # milimetres
max_height = args.max_height or 400 # pixels
cfg = EasyConfig(args.config, group="mapper")
# working vars
scale = float(max_height) / height
img_h = int(height * scale)
img_w = int(width * scale)
# open window
window_name = "Tracer"
cv2.namedWindow(window_name)
# settings
font = cv2.FONT_HERSHEY_SIMPLEX
text_size = 0.5
colour = (255,255,255)
# a frame to paste the trace on
baseframe = np.zeros((img_h,img_w,3), np.uint8)
# load appropriate mappers
if not args.singlemode:
mappers = [Mapper(args[1], args[2], cfg, Theta.Buttonside),
Mapper(args[1], args[2], cfg, Theta.Backside)]
else:
mappers = [Mapper(args[1], args[2], cfg, Theta.NonDual)]
for m in mappers:
colour = (55+random.random()*200,
55+random.random()*200,
55+random.random()*200)
# calculate world camera pos
Rt = np.matrix(m.R).T
tv = -Rt.dot(np.matrix(m.tv))
dir = unit(cv2.Rodrigues(-Rt)[0])
#dir = unit(-Rt.dot(np.array([[0.], [0.], [1.]])))
unvis = 0
pts = m.obj_pts
for i in pts:
# draw circle around it if not-visible
x, y, z = i
p = (int(x*scale), img_h-int(y*scale))
cv2.circle(baseframe, p, 1, colour, 2)
# circle the point if not visible
if not m.isVisible((x,y,z)):
unvis += 1
cv2.circle(baseframe, p, 6, colour, 1)
x, y, z = tv
pt1 = (int(x*scale), img_h-int(y*scale))
cv2.circle(baseframe, pt1, 1, colour, 2)
cv2.circle(baseframe, pt1, 10, colour, 1)
# draw direction of lens
#draw_arrow(baseframe, tv, dir[0], colour)
# and it's FOV
#draw_arrow(baseframe, tv, dir.dot(m.half_fov), colour, length=375)
#draw_arrow(baseframe, tv, dir.dot(-m.half_fov), colour, length=375)
# and some text data stuff
displayText(baseframe, "{}: {}, {}, {}".format(Theta.name(m.mode), *tv), colour=colour)
displayText(baseframe, " visible: {}/{}".format(len(pts)-unvis, len(pts)), endl=True, colour=colour)
# clean up
cv2.imshow(window_name, baseframe)
cv2.waitKey(0)
if args.export:
cv2.imwrite(args.export, baseframe)
cv2.destroyAllWindows()
print "\ndone"
return 0