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 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)
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 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
