def onBtnCreateSaliencyMaskClicked(self, widget):
ROI_X = 0
ROI_Y = 76
ROI_WIDTH = 230
ROI_HEIGHT = 100
#ROI_WIDTH = 10
if self.image != None:
# Create a saliency map from the current image
grayImage = np.ndarray((self.image.height, self.image.width),
dtype=np.uint8)
cv.CvtColor(self.image, grayImage, cv.CV_RGB2GRAY)
saliencyMap, largeSaliencyMap = self.residualSaliencyFilter.calcSaliencyMap(
grayImage)
self.dwgSaliencyDisplay.setImageFromNumpyArray(largeSaliencyMap)
# Threshold to get blobs
blobPixels = largeSaliencyMap >= 160
largeSaliencyMap[blobPixels] = 255
largeSaliencyMap[blobPixels == False] = 0
# Label blobs
largeSaliencyMap, numBlobs = PyBlobLib.labelBlobs(largeSaliencyMap)
# Find blobs in the region of interest
testMap = np.copy(largeSaliencyMap)
testMap[:ROI_Y, :] = 0 # Mask out area above the ROI
testMap[:, :ROI_X] = 0 # Mask out area to the left of the ROI
testMap[ROI_Y + ROI_HEIGHT:] = 0 # Mask out area below the ROI
testMap[:, ROI_X +
ROI_WIDTH:] = 0 # Mask out area to the right of the ROI
biggestBlobIdx = None
biggestBlobSize = 0
for blobIdx in range(1, numBlobs + 1):
if testMap[testMap == blobIdx].size > 0:
blobSize = largeSaliencyMap[largeSaliencyMap ==
blobIdx].size
if blobSize > biggestBlobSize:
biggestBlobSize = blobSize
biggestBlobIdx = blobIdx
# Isolate the largest blob
if biggestBlobIdx != None:
biggestBlobPixels = (largeSaliencyMap == biggestBlobIdx)
print biggestBlobPixels.size
largeSaliencyMap[biggestBlobPixels] = self.GC_PR_FGD
largeSaliencyMap[biggestBlobPixels == False] = self.GC_PR_BGD
# Use the largest blob as the segmentation mask
self.maskArray = largeSaliencyMap
self.redrawImageWithMask()
def onBtnCreateSaliencyMaskClicked(self, widget):
ROI_X = 0
ROI_Y = 76
ROI_WIDTH = 230
ROI_HEIGHT = 100
# ROI_WIDTH = 10
if self.image != None:
# Create a saliency map from the current image
grayImage = np.ndarray((self.image.height, self.image.width), dtype=np.uint8)
cv.CvtColor(self.image, grayImage, cv.CV_RGB2GRAY)
saliencyMap, largeSaliencyMap = self.residualSaliencyFilter.calcSaliencyMap(grayImage)
self.dwgSaliencyDisplay.setImageFromNumpyArray(largeSaliencyMap)
# Threshold to get blobs
blobPixels = largeSaliencyMap >= 160
largeSaliencyMap[blobPixels] = 255
largeSaliencyMap[blobPixels == False] = 0
# Label blobs
largeSaliencyMap, numBlobs = PyBlobLib.labelBlobs(largeSaliencyMap)
# Find blobs in the region of interest
testMap = np.copy(largeSaliencyMap)
testMap[:ROI_Y, :] = 0 # Mask out area above the ROI
testMap[:, :ROI_X] = 0 # Mask out area to the left of the ROI
testMap[ROI_Y + ROI_HEIGHT :] = 0 # Mask out area below the ROI
testMap[:, ROI_X + ROI_WIDTH :] = 0 # Mask out area to the right of the ROI
biggestBlobIdx = None
biggestBlobSize = 0
for blobIdx in range(1, numBlobs + 1):
if testMap[testMap == blobIdx].size > 0:
blobSize = largeSaliencyMap[largeSaliencyMap == blobIdx].size
if blobSize > biggestBlobSize:
biggestBlobSize = blobSize
biggestBlobIdx = blobIdx
# Isolate the largest blob
if biggestBlobIdx != None:
biggestBlobPixels = largeSaliencyMap == biggestBlobIdx
print biggestBlobPixels.size
largeSaliencyMap[biggestBlobPixels] = self.GC_PR_FGD
largeSaliencyMap[biggestBlobPixels == False] = self.GC_PR_BGD
# Use the largest blob as the segmentation mask
self.maskArray = largeSaliencyMap
self.redrawImageWithMask()
def produceSegmentation( self, startFrame, impactMotionImage,
preMotionImages, postMotionImages ):
ROI_X = 0
ROI_Y = 76
ROI_WIDTH = 230
ROI_HEIGHT = 100
blankFrame = np.zeros( ( startFrame.height, startFrame.width ), dtype=np.uint8 )
imageFlowFilter = ImageFlowFilter()
# Create the accumulator image
accumulatorArray = np.copy( impactMotionImage ).astype( np.int32 )
# Take maximum values from motion images after the impact but
# don't add them in to de-emphasise the manipulator
imageNum = 1
for postMotionImage in postMotionImages:
print "Aligning post impact image {0}...".format( imageNum )
imageNum += 1
( transX, transY, rotationAngle, alignedImage ) = \
imageFlowFilter.calcImageFlow( impactMotionImage, postMotionImage )
accumulatorArray = np.maximum( accumulatorArray, alignedImage )
# Dilate and subtract motion images from before the impact
imageNum = 1
for preMotionImage in preMotionImages:
print "Aligning pre impact image {0}...".format( imageNum )
imageNum += 1
( transX, transY, rotationAngle, alignedImage ) = \
imageFlowFilter.calcImageFlow( impactMotionImage, preMotionImage )
cv.Dilate( alignedImage, alignedImage )
cv.Dilate( alignedImage, alignedImage )
cv.Dilate( alignedImage, alignedImage )
accumulatorArray = accumulatorArray - alignedImage
accumulatorImage = np.clip( accumulatorArray, 0, 255 ).astype( np.uint8 )
# Create the segmentation mask from the accumulator image
startMask = np.copy( accumulatorImage )
cv.Dilate( startMask, startMask )
cv.Erode( startMask, startMask )
cv.Dilate( startMask, startMask )
cv.Erode( startMask, startMask )
startMask = scipy.ndimage.filters.gaussian_filter(
startMask, 5.0, mode='constant' )
startMask[ startMask > 0 ] = 255
# Find the larget blob in the ROI
# Label blobs
startMask, numBlobs = PyBlobLib.labelBlobs( startMask )
# Find blobs in the region of interest
testMap = np.copy( startMask )
testMap[ :ROI_Y, : ] = 0 # Mask out area above the ROI
testMap[ :, :ROI_X ] = 0 # Mask out area to the left of the ROI
testMap[ ROI_Y+ROI_HEIGHT: ] = 0 # Mask out area below the ROI
testMap[ :, ROI_X+ROI_WIDTH: ] = 0 # Mask out area to the right of the ROI
biggestBlobIdx = None
biggestBlobSize = 0
for blobIdx in range( 1, numBlobs + 1 ):
if testMap[ testMap == blobIdx ].size > 0:
blobSize = startMask[ startMask == blobIdx ].size
if blobSize > biggestBlobSize:
biggestBlobSize = blobSize
biggestBlobIdx = blobIdx
# Isolate the largest blob
if biggestBlobIdx != None:
biggestBlobPixels = (startMask == biggestBlobIdx)
startMask[ biggestBlobPixels ] = 255
startMask[ biggestBlobPixels == False ] = 0
else:
print "No central blob"
return blankFrame
# Now expand it to get exclusion mask
exclusionMask = np.copy( startMask )
for i in range( 10 ):
cv.Dilate( exclusionMask, exclusionMask )
cv.Erode( exclusionMask, exclusionMask )
cv.Erode( exclusionMask, exclusionMask )
#----------------------------------------------------
maskArray = np.copy( startMask )
possiblyForeground = ( maskArray > 0 ) & ( accumulatorImage > 0 )
maskArray[ possiblyForeground ] = self.GC_PR_FGD
maskArray[ possiblyForeground == False ] = self.GC_PR_BGD
maskArray[ exclusionMask == 0 ] = self.GC_BGD
definiteMask = np.copy( accumulatorImage )
definiteMask[ possiblyForeground ] = 255
definiteMask[ possiblyForeground == False ] = 0
cv.Erode( definiteMask, definiteMask )
cv.Erode( definiteMask, definiteMask )
maskArray[ definiteMask == 255 ] = self.GC_FGD
# Now create the working mask and segment the image
workingMask = np.copy( maskArray )
fgModel = cv.CreateMat( 1, 5*13, cv.CV_64FC1 )
cv.Set( fgModel, 0 )
bgModel = cv.CreateMat( 1, 5*13, cv.CV_64FC1 )
cv.Set( bgModel, 0 )
workingImage = np.copy( startFrame )
cv.GrabCut( workingImage, workingMask,
(0,0,0,0), fgModel, bgModel, 6, self.GC_INIT_WITH_MASK )
cv.Set( fgModel, 0 )
cv.Set( bgModel, 0 )
bgdPixels = (workingMask != self.GC_PR_FGD) & (workingMask != self.GC_FGD)
workingMask[ bgdPixels ] = 0
workingMask[ bgdPixels == False ] = 255
cv.Erode( workingMask, workingMask )
bgdPixels = workingMask == 0
workingMask[ bgdPixels ] = self.GC_PR_BGD
workingMask[ bgdPixels == False ] = self.GC_PR_FGD
workingMask[ exclusionMask == 0 ] = self.GC_BGD
cv.GrabCut( workingImage, workingMask,
(0,0,0,0), fgModel, bgModel, 6, self.GC_INIT_WITH_MASK )
segmentation = np.copy( startFrame )
segmentation[ (workingMask != self.GC_PR_FGD) & (workingMask != self.GC_FGD) ] = 0
# Remove everything apart from the biggest blob in the ROI
graySeg = np.zeros( ( startFrame.height, startFrame.width ), dtype=np.uint8 )
cv.CvtColor( segmentation, graySeg, cv.CV_RGB2GRAY )
startMask = np.copy( graySeg )
startMask[ startMask > 0 ] = 255
# Find the larget blob in the ROI
# Label blobs
startMask, numBlobs = PyBlobLib.labelBlobs( startMask )
# Find blobs in the region of interest
testMap = np.copy( startMask )
testMap[ :ROI_Y, : ] = 0 # Mask out area above the ROI
testMap[ :, :ROI_X ] = 0 # Mask out area to the left of the ROI
testMap[ ROI_Y+ROI_HEIGHT: ] = 0 # Mask out area below the ROI
testMap[ :, ROI_X+ROI_WIDTH: ] = 0 # Mask out area to the right of the ROI
biggestBlobIdx = None
biggestBlobSize = 0
for blobIdx in range( 1, numBlobs + 1 ):
if testMap[ testMap == blobIdx ].size > 0:
blobSize = startMask[ startMask == blobIdx ].size
if blobSize > biggestBlobSize:
biggestBlobSize = blobSize
biggestBlobIdx = blobIdx
# Isolate the largest blob
if biggestBlobIdx != None:
biggestBlobPixels = (startMask == biggestBlobIdx)
segmentation[ biggestBlobPixels == False, 0 ] = 255
segmentation[ biggestBlobPixels == False, 1 ] = 0
segmentation[ biggestBlobPixels == False, 2 ] = 255
else:
print "No central blob after main segmentation"
return blankFrame
return segmentation
def updateMaskImage( self ):
USING_OPTICAL_FLOW = False
ROI_X = 0
ROI_Y = 76
ROI_WIDTH = 230
ROI_HEIGHT = 100
if self.accumulatorImage != None:
# Create the segmentation mask from the accumulator image
startMask = np.copy( self.accumulatorImage )
cv.Dilate( startMask, startMask )
cv.Erode( startMask, startMask )
cv.Dilate( startMask, startMask )
cv.Erode( startMask, startMask )
startMask = scipy.ndimage.filters.gaussian_filter(
startMask, 5.0, mode='constant' )
startMask[ startMask > 0 ] = 255
#cv.Erode( startMask, startMask )
#cv.Dilate( startMask, startMask )
#if USING_OPTICAL_FLOW:
# cv.Erode( startMask, startMask )
# cv.Erode( startMask, startMask )
# Find the larget blob in the ROI
# Label blobs
startMask, numBlobs = PyBlobLib.labelBlobs( startMask )
# Find blobs in the region of interest
testMap = np.copy( startMask )
testMap[ :ROI_Y, : ] = 0 # Mask out area above the ROI
testMap[ :, :ROI_X ] = 0 # Mask out area to the left of the ROI
testMap[ ROI_Y+ROI_HEIGHT: ] = 0 # Mask out area below the ROI
testMap[ :, ROI_X+ROI_WIDTH: ] = 0 # Mask out area to the right of the ROI
biggestBlobIdx = None
biggestBlobSize = 0
for blobIdx in range( 1, numBlobs + 1 ):
if testMap[ testMap == blobIdx ].size > 0:
blobSize = startMask[ startMask == blobIdx ].size
if blobSize > biggestBlobSize:
biggestBlobSize = blobSize
biggestBlobIdx = blobIdx
# Isolate the largest blob
if biggestBlobIdx != None:
biggestBlobPixels = (startMask == biggestBlobIdx)
startMask[ biggestBlobPixels ] = 255
startMask[ biggestBlobPixels == False ] = 0
else:
print "No central blob"
self.maskArray = None
self.dwgMaskImageDisplay.clear()
# Now expand it to get exclusion mask
self.exclusionMask = np.copy( startMask )
for i in range( 10 ):
cv.Dilate( self.exclusionMask, self.exclusionMask )
cv.Erode( self.exclusionMask, self.exclusionMask )
cv.Erode( self.exclusionMask, self.exclusionMask )
#----------------------------------------------------
self.maskArray = np.copy( startMask )
possiblyForeground = ( self.maskArray > 0 ) & ( self.accumulatorImage > 0 )
self.maskArray[ possiblyForeground ] = self.GC_PR_FGD
self.maskArray[ possiblyForeground == False ] = self.GC_PR_BGD
self.maskArray[ self.exclusionMask == 0 ] = self.GC_BGD
self.definiteMask = np.copy( self.accumulatorImage )
self.definiteMask[ possiblyForeground ] = 255
self.definiteMask[ possiblyForeground == False ] = 0
cv.Erode( self.definiteMask, self.definiteMask )
cv.Erode( self.definiteMask, self.definiteMask )
self.maskArray[ self.definiteMask == 255 ] = self.GC_FGD
#if not USING_OPTICAL_FLOW:
# smallMask = np.copy( startMask )
# smallMask[ smallMask > 0 ] = 255
# cv.Erode( smallMask, smallMask )
# self.maskArray[ smallMask > 0 ] = self.GC_FGD
# Draw the segmentation mask
composedImage = None
if "ImpactImage" in self.images.keys() \
and self.images[ "ImpactImage" ] != None:
composedImage = np.copy( self.images[ "ImpactImage" ] )
if composedImage == None:
height = self.accumulatorImage.shape[ 1 ]
width = self.accumulatorImage.shape[ 0 ]
composedImage = np.zeros( ( height, width, 3 ), dtype=np.uint8 )
composedImage[ self.maskArray == self.GC_FGD ] = self.FOREGROUND_BRUSH_COLOUR
composedImage[ self.maskArray == self.GC_PR_FGD ] = self.PROBABLY_FOREGROUND_BRUSH_COLOUR
composedImage[ self.maskArray == self.GC_BGD ] = self.BACKGROUND_BRUSH_COLOUR
self.dwgMaskImageDisplay.setImageFromNumpyArray( composedImage )
else:
self.maskArray = None
self.dwgMaskImageDisplay.clear()
def updateMaskImage(self):
USING_OPTICAL_FLOW = False
ROI_X = 0
ROI_Y = 76
ROI_WIDTH = 230
ROI_HEIGHT = 100
if self.accumulatorImage != None:
# Create the segmentation mask from the accumulator image
startMask = np.copy(self.accumulatorImage)
cv.Dilate(startMask, startMask)
cv.Erode(startMask, startMask)
cv.Dilate(startMask, startMask)
cv.Erode(startMask, startMask)
startMask = scipy.ndimage.filters.gaussian_filter(startMask,
5.0,
mode='constant')
startMask[startMask > 0] = 255
#cv.Erode( startMask, startMask )
#cv.Dilate( startMask, startMask )
#if USING_OPTICAL_FLOW:
# cv.Erode( startMask, startMask )
# cv.Erode( startMask, startMask )
# Find the larget blob in the ROI
# Label blobs
startMask, numBlobs = PyBlobLib.labelBlobs(startMask)
# Find blobs in the region of interest
testMap = np.copy(startMask)
testMap[:ROI_Y, :] = 0 # Mask out area above the ROI
testMap[:, :ROI_X] = 0 # Mask out area to the left of the ROI
testMap[ROI_Y + ROI_HEIGHT:] = 0 # Mask out area below the ROI
testMap[:, ROI_X +
ROI_WIDTH:] = 0 # Mask out area to the right of the ROI
biggestBlobIdx = None
biggestBlobSize = 0
for blobIdx in range(1, numBlobs + 1):
if testMap[testMap == blobIdx].size > 0:
blobSize = startMask[startMask == blobIdx].size
if blobSize > biggestBlobSize:
biggestBlobSize = blobSize
biggestBlobIdx = blobIdx
# Isolate the largest blob
if biggestBlobIdx != None:
biggestBlobPixels = (startMask == biggestBlobIdx)
startMask[biggestBlobPixels] = 255
startMask[biggestBlobPixels == False] = 0
else:
print "No central blob"
self.maskArray = None
self.dwgMaskImageDisplay.clear()
# Now expand it to get exclusion mask
self.exclusionMask = np.copy(startMask)
for i in range(10):
cv.Dilate(self.exclusionMask, self.exclusionMask)
cv.Erode(self.exclusionMask, self.exclusionMask)
cv.Erode(self.exclusionMask, self.exclusionMask)
#----------------------------------------------------
self.maskArray = np.copy(startMask)
possiblyForeground = (self.maskArray > 0) & (self.accumulatorImage
> 0)
self.maskArray[possiblyForeground] = self.GC_PR_FGD
self.maskArray[possiblyForeground == False] = self.GC_PR_BGD
self.maskArray[self.exclusionMask == 0] = self.GC_BGD
self.definiteMask = np.copy(self.accumulatorImage)
self.definiteMask[possiblyForeground] = 255
self.definiteMask[possiblyForeground == False] = 0
cv.Erode(self.definiteMask, self.definiteMask)
cv.Erode(self.definiteMask, self.definiteMask)
self.maskArray[self.definiteMask == 255] = self.GC_FGD
#if not USING_OPTICAL_FLOW:
# smallMask = np.copy( startMask )
# smallMask[ smallMask > 0 ] = 255
# cv.Erode( smallMask, smallMask )
# self.maskArray[ smallMask > 0 ] = self.GC_FGD
# Draw the segmentation mask
composedImage = None
if "ImpactImage" in self.images.keys() \
and self.images[ "ImpactImage" ] != None:
composedImage = np.copy(self.images["ImpactImage"])
if composedImage == None:
height = self.accumulatorImage.shape[1]
width = self.accumulatorImage.shape[0]
composedImage = np.zeros((height, width, 3), dtype=np.uint8)
composedImage[self.maskArray ==
self.GC_FGD] = self.FOREGROUND_BRUSH_COLOUR
composedImage[self.maskArray == self.
GC_PR_FGD] = self.PROBABLY_FOREGROUND_BRUSH_COLOUR
composedImage[self.maskArray ==
self.GC_BGD] = self.BACKGROUND_BRUSH_COLOUR
self.dwgMaskImageDisplay.setImageFromNumpyArray(composedImage)
else:
self.maskArray = None
self.dwgMaskImageDisplay.clear()
