def xtest_image_pan(self):
cam = camera.Camera((1.0, 1.0, 89.23, 320., 320., 240.0))
vo = VisualOdometer(cam)
prev_af = None
pose = None
im = Image.open("img1.pgm")
for x in [0,5]: # range(0,100,10) + list(reversed(range(0, 100, 10))):
lf = im.crop((x, 0, x + 640, 480))
rf = im.crop((x, 0, x + 640, 480))
af = SparseStereoFrame(lf, rf)
vo.find_keypoints(af)
vo.find_disparities(af)
vo.collect_descriptors(af)
if prev_af:
pairs = vo.temporal_match(prev_af, af)
pose = vo.solve(prev_af.kp, af.kp, pairs)
for i in range(10):
old = prev_af.kp[pairs[i][0]]
new = af.kp[pairs[i][1]]
print old, new, new[0] - old[0]
prev_af = af
print "frame", x, "has", len(af.kp), "keypoints", pose
def xtest_image_pan(self):
cam = camera.Camera((1.0, 1.0, 89.23, 320., 320., 240.0))
vo = VisualOdometer(cam)
prev_af = None
pose = None
im = Image.open("img1.pgm")
for x in [0,
5]: # range(0,100,10) + list(reversed(range(0, 100, 10))):
lf = im.crop((x, 0, x + 640, 480))
rf = im.crop((x, 0, x + 640, 480))
af = SparseStereoFrame(lf, rf)
vo.find_keypoints(af)
vo.find_disparities(af)
vo.collect_descriptors(af)
if prev_af:
pairs = vo.temporal_match(prev_af, af)
pose = vo.solve(prev_af.kp, af.kp, pairs)
for i in range(10):
old = prev_af.kp[pairs[i][0]]
new = af.kp[pairs[i][1]]
print old, new, new[0] - old[0]
prev_af = af
print "frame", x, "has", len(af.kp), "keypoints", pose
def test_stereo(self):
cam = camera.VidereCamera(open("wallcal.ini").read())
#lf = Image.open("wallcal-L.bmp").convert("L")
#rf = Image.open("wallcal-R.bmp").convert("L")
for offset in [ 1, 10, 10.25, 10.5, 10.75, 11, 63]:
lf = Image.open("snap.png").convert("L")
rf = Image.open("snap.png").convert("L")
rf = rf.resize((16 * 640, 480))
rf = ImageChops.offset(rf, -int(offset * 16), 0)
rf = rf.resize((640,480), Image.ANTIALIAS)
for gradient in [ False, True ]:
af = SparseStereoFrame(lf, rf, gradient)
vo = VisualOdometer(cam)
vo.find_keypoints(af)
vo.find_disparities(af)
error = offset - sum([d for (x,y,d) in af.kp]) / len(af.kp)
self.assert_(abs(error) < 0.25)
if 0:
scribble = Image.merge("RGB", (lf,rf,Image.new("L", lf.size))).resize((1280,960))
#scribble = Image.merge("RGB", (Image.fromstring("L", lf.size, af0.lgrad),Image.fromstring("L", lf.size, af0.rgrad),Image.new("L", lf.size))).resize((1280,960))
draw = ImageDraw.Draw(scribble)
for (x,y,d) in af0.kp:
draw.line([ (2*x,2*y), (2*x-2*d,2*y) ], fill = (255,255,255))
for (x,y,d) in af1.kp:
draw.line([ (2*x,2*y+1), (2*x-2*d,2*y+1) ], fill = (0,0,255))
def test_sad(self):
cam = camera.Camera((389.0, 389.0, 89.23, 323.42, 323.42, 274.95))
vo = VisualOdometer(cam)
class adapter:
def __init__(self, im):
self.rawdata = im.tostring()
self.size = im.size
im = adapter(Image.open("img1.pgm"))
vo.feature_detector.thresh *= 15
vo.find_keypoints(im)
im.kp = im.kp2d
vo.collect_descriptors(im)
print len(im.kp)
matches = vo.temporal_match(im, im)
for (a,b) in matches:
self.assert_(a == b)
def test_sad(self):
cam = camera.Camera((389.0, 389.0, 89.23, 323.42, 323.42, 274.95))
vo = VisualOdometer(cam)
class adapter:
def __init__(self, im):
self.rawdata = im.tostring()
self.size = im.size
im = adapter(Image.open("img1.pgm"))
vo.feature_detector.thresh *= 15
vo.find_keypoints(im)
im.kp = im.kp2d
vo.collect_descriptors(im)
print len(im.kp)
matches = vo.temporal_match(im, im)
for (a, b) in matches:
self.assert_(a == b)
if topic.endswith("videre/cal_params") and not cam:
cam = camera.VidereCamera(msg.data)
vo = VisualOdometer(cam,
feature_detector=FeatureDetectorFast(),
descriptor_scheme=DescriptorSchemeSAD())
if cam and topic.endswith("videre/images"):
imgR = imgAdapted(msg.images[0])
imgL = imgAdapted(msg.images[1])
assert msg.images[0].label == "right_rectified"
assert msg.images[1].label == "left_rectified"
frame = SparseStereoFrame(imgL, imgR)
vo.find_keypoints(frame)
vo.find_disparities(frame)
#frame.kp = [ (x,y,d) for (x,y,d) in frame.kp if d > 8]
all_ds += [d for (x, y, d) in frame.kp]
vo.collect_descriptors(frame)
if prev_frame:
pairs = vo.temporal_match(prev_frame, frame)
solution = vo.solve(prev_frame.kp, frame.kp, pairs, True)
(inl, rot, shift) = solution
sos += numpy.array(shift)
print sos
prev_frame = frame
framecounter += 1
ds[filename] = all_ds
if rospy.is_shutdown():
break
if topic.endswith("videre/cal_params") and not cam:
cam = camera.VidereCamera(msg.data)
vo = VisualOdometer(cam, feature_detector = FeatureDetectorFast(), descriptor_scheme = DescriptorSchemeSAD())
if cam and topic.endswith("videre/images"):
imgR = imgAdapted(msg.images[0])
imgL = imgAdapted(msg.images[1])
assert msg.images[0].label == "right_rectified"
assert msg.images[1].label == "left_rectified"
frame = SparseStereoFrame(imgL, imgR)
vo.find_keypoints(frame)
vo.find_disparities(frame)
#frame.kp = [ (x,y,d) for (x,y,d) in frame.kp if d > 8]
all_ds += [ d for (x,y,d) in frame.kp ]
vo.collect_descriptors(frame)
if prev_frame:
pairs = vo.temporal_match(prev_frame, frame)
solution = vo.solve(prev_frame.kp, frame.kp, pairs, True)
(inl, rot, shift) = solution
sos += numpy.array(shift)
print sos
prev_frame = frame
framecounter += 1
ds[filename] = all_ds
