def initialize_visualization_drawer(self):
visual_h = self.cfg.visualization.window_h
visual_w = self.cfg.visualization.window_w
self.drawer = FrameDrawer(visual_h, visual_w)
self.drawer.assign_data(
item="traj",
top_left=[0, 0],
bottom_right=[int(visual_h), int(visual_w)],
)
self.drawer.assign_data(
item="match_temp",
top_left=[int(visual_h / 4 * 0),
int(visual_w / 4 * 2)],
bottom_right=[int(visual_h / 4 * 1),
int(visual_w / 4 * 4)],
)
self.drawer.assign_data(
item="match_side",
top_left=[int(visual_h / 4 * 1),
int(visual_w / 4 * 2)],
bottom_right=[int(visual_h / 4 * 2),
int(visual_w / 4 * 4)],
)
self.drawer.assign_data(
item="depth",
top_left=[int(visual_h / 4 * 2),
int(visual_w / 4 * 2)],
bottom_right=[int(visual_h / 4 * 3),
int(visual_w / 4 * 3)],
)
self.drawer.assign_data(
item="flow1",
top_left=[int(visual_h / 4 * 2),
int(visual_w / 4 * 3)],
bottom_right=[int(visual_h / 4 * 3),
int(visual_w / 4 * 4)],
)
self.drawer.assign_data(
item="flow2",
top_left=[int(visual_h / 4 * 3),
int(visual_w / 4 * 2)],
bottom_right=[int(visual_h / 4 * 4),
int(visual_w / 4 * 3)],
)
self.drawer.assign_data(
item="flow_diff",
top_left=[int(visual_h / 4 * 3),
int(visual_w / 4 * 3)],
bottom_right=[int(visual_h / 4 * 4),
int(visual_w / 4 * 4)],
)
def setup(self):
"""Reading configuration and setup, including
- Timer
- Dataset
- Tracking method
- Keypoint Sampler
- Deep networks
- Deep layers
- Visualizer
"""
# timer
self.timers = Timer()
# intialize dataset
self.dataset = Dataset.datasets[self.cfg.dataset](self.cfg)
# get tracking method
self.tracking_method = self.cfg.tracking_method
self.initialize_tracker()
# initialize keypoint sampler
self.kp_sampler = KeypointSampler(self.cfg)
# Deep networks
self.deep_models = DeepModel(self.cfg)
self.deep_models.initialize_models()
if self.cfg.online_finetune.enable:
self.deep_models.setup_train()
# Depth consistency
if self.cfg.kp_selection.depth_consistency.enable:
self.depth_consistency_computer = DepthConsistency(
self.cfg, self.dataset.cam_intrinsics)
# visualization interface
self.drawer = FrameDrawer(self.cfg.visualization)