def declare_io(self, p, i, o):
self.gray_image = ecto.Passthrough('gray Input')
self.gray_image_ref = ecto.Passthrough('gray Input from ref image')
self.K = ecto.Passthrough('K')
self.points3d = ecto.Passthrough('points3d')
self.points3d_ref = ecto.Passthrough('points3d from ref image')
self.depth_mask = ecto.Passthrough('mask')
self.pose_estimation = MatchRefinementHSvd('Pose Estimation',
reprojection_error=3,
inlier_thresh=15)
self.fps = FPSDrawer('FPS')
self.tr = TransformCompose('Transform Composition')
#inputs
i.declare('K', self.K.inputs.at('in'))
i.declare('image', self.gray_image.inputs.at('in'))
i.declare('image_ref', self.gray_image_ref.inputs.at('in'))
i.declare('mask', self.depth_mask.inputs.at('in'))
i.declare('points3d', self.points3d.inputs.at('in'))
i.declare('points3d_ref', self.points3d_ref.inputs.at('in'))
i.declare('points3d', self.points3d.inputs.at('in'))
i.declare('points3d_ref', self.points3d_ref.inputs.at('in'))
#outputs
o.declare('R', self.tr.outputs.at('R'))
o.declare('T', self.tr.outputs.at('T'))
o.declare('found', self.pose_estimation.outputs.at('found'))
o.declare('debug_image', self.fps.outputs.at('image'))
def ecto_process(conn):
import ecto
from ecto_opencv.highgui import VideoCapture, imshow, FPSDrawer, ImageJpgWriter
updator = ImageUpdator(conn=conn)
video_cap = VideoCapture(video_device=0, width=1000, height=1000)
fps = FPSDrawer()
file = StringIO()
writer = ImageJpgWriter(file=ecto.ostream(file))
plasm = ecto.Plasm()
plasm.connect(video_cap['image'] >> fps['image'],
fps['image'] >> writer['image'],
writer['file'] >> updator['ostream']
)
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()
def parse_args():
import argparse
parser = argparse.ArgumentParser(
description='Computes the odometry between frames.')
scheduler_options(parser.add_argument_group('Scheduler'))
options = parser.parse_args()
return options
if __name__ == '__main__':
options = parse_args()
video = VideoCapture(video_device=0)
lucid = LUCID()
draw_kpts = DrawKeypoints()
rgb2gray = cvtColor(flag=Conversion.RGB2GRAY)
fps = FPSDrawer()
plasm = ecto.Plasm()
plasm.connect(
video['image'] >> rgb2gray['image'],
rgb2gray['image'] >> lucid['image'],
lucid['keypoints'] >> draw_kpts['keypoints'],
video['image'] >> draw_kpts['image'],
draw_kpts['image'] >> fps[:],
fps[:] >> imshow('eLUCID display', name='LUCID')['image'],
)
run_plasm(options, plasm, locals=vars())
#!/usr/bin/env python
import ecto
from ecto_opencv.highgui import imshow, NiConverter, FPSDrawer
from ecto_opencv.imgproc import ConvertTo
from ecto_opencv.cv_bp import CV_8UC1
from ecto_openni import OpenNICapture, DEPTH_RGB
import argparse
from ecto.opts import cell_options
parser = argparse.ArgumentParser(description='My awesome program thing.')
#add our cells to the parser
camera_factory = cell_options(parser, OpenNICapture)
args = parser.parse_args()
print args
#use the factories in conjunction with the parsed arguments, to create our cells.
capture = camera_factory(args)
fps = FPSDrawer('fps')
plasm = ecto.Plasm()
plasm.connect(
capture['image'] >> fps[:],
fps[:] >> imshow('image display', name='image')[:],
capture['depth'] >> imshow('depth display', name='depth')[:],
)
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()