def drawImage(image,h,w,psize):
"""
Draw the image as a continuous line on a surface h by w "pixels" where
each continuous line representation of a pixel in image is represented
on the output suface using psize by psize "pixels".
@param image an opencv image with at least 3 channels
@param h integer representing the hight of the output surface
@param w integer representing the width of the output surface
@param psize ammount that each pixel in the input image is scaled up
"""
h = (h/psize)-2
w = (w/psize)-2
size = opencv.cvSize(w,h)
scaled = opencv.cvCreateImage(size,8,3)
red = opencv.cvCreateImage(size,8,1)
blue = opencv.cvCreateImage(size,8,1)
green = opencv.cvCreateImage(size,8,1)
opencv.cvSplit(scaled,blue,green,red,None)
opencv.cvEqualizeHist(red,red)
opencv.cvEqualizeHist(green,green)
opencv.cvEqualizeHist(blue,blue)
opencv.cvMerge(red,green,blue,None,scaled)
opencv.cvResize(image,scaled,opencv.CV_INTER_LINEAR)
opencv.cvNot(scaled,scaled)
# Draw each pixel in the image
xr = range(scaled.width)
whitespace = 0
for y in range(scaled.height):
for x in xr:
s = opencv.cvGet2D(scaled,y,x)
s = [s[j] for j in range(3)]
if (sum(s)/710.0 < 1.0/psize):
whitespace = whitespace+psize
else:
if whitespace is not 0:
line(whitespace,6,(xr[0]>0))
whitespace = 0
drawPixel([j/255.0 for j in s],psize,(xr[0]>0))
if whitespace is not 0:
line(whitespace,6,(xr[0]>0))
whitespace = 0
line(psize,2)
xr.reverse()
displayImage(output)
events = pygame.event.get()
for event in events:
if event.type == QUIT:
exit()
def mask(img, img_mask):
dim = img.width, img.height
depth = img.depth
channels = img.nChannels
r_chan = cv.cvCreateImage(cv.cvSize(*dim), depth, 1)
g_chan = cv.cvCreateImage(cv.cvSize(*dim), depth, 1)
b_chan = cv.cvCreateImage(cv.cvSize(*dim), depth, 1)
combined = cv.cvCreateImage(cv.cvSize(*dim), depth, 3)
cv.cvSplit(img, r_chan, g_chan, b_chan, None)
cv.cvAnd(r_chan, img_mask, r_chan)
cv.cvAnd(g_chan, img_mask, g_chan)
cv.cvAnd(b_chan, img_mask, b_chan)
cv.cvMerge(r_chan, g_chan, b_chan, None, combined)
return combined
def mask(img, img_mask):
dim = img.width, img.height
depth = img.depth
channels = img.nChannels
r_chan = cv.cvCreateImage(cv.cvSize(*dim), depth, 1)
g_chan = cv.cvCreateImage(cv.cvSize(*dim), depth, 1)
b_chan = cv.cvCreateImage(cv.cvSize(*dim), depth, 1)
combined = cv.cvCreateImage(cv.cvSize(*dim), depth, 3)
cv.cvSplit(img, r_chan, g_chan, b_chan, None)
cv.cvAnd(r_chan, img_mask, r_chan)
cv.cvAnd(g_chan, img_mask, g_chan)
cv.cvAnd(b_chan, img_mask, b_chan)
cv.cvMerge(r_chan, g_chan, b_chan, None, combined)
return combined
def prepare(self, features_k_nearest_neighbors, nonzero_indices = None, all_save_load = False, regenerate_neightborhood_indices = False):
#print np.shape(self.processor.pts3d_bound), 'shape pts3d_bound'
imgTmp = cv.cvCloneImage(self.processor.img)
self.imNP = ut.cv2np(imgTmp,format='BGR')
###self.processor.map2d = np.asarray(self.processor.camPts_bound) #copied from laser to image mapping
if features_k_nearest_neighbors == None or features_k_nearest_neighbors == False: #use range
self.kdtree2d = kdtree.KDTree(self.processor.pts3d_bound.T)
#print len(nonzero_indices)
#print np.shape(np.asarray((self.processor.pts3d_bound.T)[nonzero_indices]))
if nonzero_indices != None:
print ut.getTime(), 'query ball tree for ', len(nonzero_indices), 'points'
kdtree_query = kdtree.KDTree((self.processor.pts3d_bound.T)[nonzero_indices])
else:
print ut.getTime(), 'query ball tree'
kdtree_query = kdtree.KDTree(self.processor.pts3d_bound.T)
filename = self.processor.config.path+'/data/'+self.processor.scan_dataset.id+'_sphere_neighborhood_indices_'+str(self.processor.feature_radius)+'.pkl'
if all_save_load == True and os.path.exists(filename) and regenerate_neightborhood_indices == False:
#if its already there, load it:
print ut.getTime(), 'loading',filename
self.kdtree_queried_indices = ut.load_pickle(filename)
else:
self.kdtree_queried_indices = kdtree_query.query_ball_tree(self.kdtree2d, self.processor.feature_radius, 2.0, 0.2) #approximate
print ut.getTime(), 'queried kdtree: ',len(self.kdtree_queried_indices),'points, radius:',self.processor.feature_radius
if all_save_load == True:
ut.save_pickle(self.kdtree_queried_indices, filename)
#make dict out of list for faster operations? (doesn't seem to change speed significantly):
#self.kdtree_queried_indices = dict(zip(xrange(len(self.kdtree_queried_indices)), self.kdtree_queried_indices))
else: #experiemental: use_20_nearest_neighbors == True
#TODO: exclude invalid values in get_featurevector (uncomment code there)
self.kdtree2d = kdtree.KDTree(self.processor.pts3d_bound.T)
self.kdtree_queried_indices = []
print ut.getTime(), 'kdtree single queries for kNN start, k=', features_k_nearest_neighbors
count = 0
for point in ((self.processor.pts3d_bound.T)[nonzero_indices]):
count = count + 1
result = self.kdtree2d.query(point, features_k_nearest_neighbors,0.2,2,self.processor.feature_radius)
#existing = result[0][0] != np.Inf
#print existing
#print result[1]
self.kdtree_queried_indices += [result[1]] #[existing]
if count % 4096 == 0:
print ut.getTime(),count
print ut.getTime(), 'kdtree singe queries end'
#convert to numpy array -> faster access
self.kdtree_queried_indices = np.asarray(self.kdtree_queried_indices)
#print self.kdtree_queried_indices
#takes long to compute:
#avg_len = 0
#minlen = 999999
#maxlen = 0
#for x in self.kdtree_queried_indices:
# avg_len += len(x)
# minlen = min(minlen, len(x))
# maxlen = max(maxlen, len(x))
#avg_len = avg_len / len(self.kdtree_queried_indices)
#print ut.getTime(), "range neighbors: avg_len", avg_len, 'minlen', minlen, 'maxlen', maxlen
#create HSV numpy images:
# compute the hsv version of the image
image_size = cv.cvGetSize(self.processor.img)
img_h = cv.cvCreateImage (image_size, 8, 1)
img_s = cv.cvCreateImage (image_size, 8, 1)
img_v = cv.cvCreateImage (image_size, 8, 1)
img_hsv = cv.cvCreateImage (image_size, 8, 3)
cv.cvCvtColor (self.processor.img, img_hsv, cv.CV_BGR2HSV)
cv.cvSplit (img_hsv, img_h, img_s, img_v, None)
self.imNP_h = ut.cv2np(img_h)
self.imNP_s = ut.cv2np(img_s)
self.imNP_v = ut.cv2np(img_v)
textures = texture_features.eigen_texture(self.processor.img)
self.imNP_tex1 = textures[:,:,0]
self.imNP_tex2 = textures[:,:,1]
self.debug_before_first_featurevector = True
self.generate_voi_histogram(self.processor.point_of_interest,self.processor.voi_width)
def prepare(self,
features_k_nearest_neighbors,
nonzero_indices=None,
all_save_load=False,
regenerate_neightborhood_indices=False):
#print np.shape(self.processor.pts3d_bound), 'shape pts3d_bound'
imgTmp = cv.cvCloneImage(self.processor.img)
self.imNP = ut.cv2np(imgTmp, format='BGR')
###self.processor.map2d = np.asarray(self.processor.camPts_bound) #copied from laser to image mapping
if features_k_nearest_neighbors == None or features_k_nearest_neighbors == False: #use range
self.kdtree2d = kdtree.KDTree(self.processor.pts3d_bound.T)
#print len(nonzero_indices)
#print np.shape(np.asarray((self.processor.pts3d_bound.T)[nonzero_indices]))
if nonzero_indices != None:
print ut.getTime(), 'query ball tree for ', len(
nonzero_indices), 'points'
kdtree_query = kdtree.KDTree(
(self.processor.pts3d_bound.T)[nonzero_indices])
else:
print ut.getTime(), 'query ball tree'
kdtree_query = kdtree.KDTree(self.processor.pts3d_bound.T)
filename = self.processor.config.path + '/data/' + self.processor.scan_dataset.id + '_sphere_neighborhood_indices_' + str(
self.processor.feature_radius) + '.pkl'
if all_save_load == True and os.path.exists(
filename) and regenerate_neightborhood_indices == False:
#if its already there, load it:
print ut.getTime(), 'loading', filename
self.kdtree_queried_indices = ut.load_pickle(filename)
else:
self.kdtree_queried_indices = kdtree_query.query_ball_tree(
self.kdtree2d, self.processor.feature_radius, 2.0,
0.2) #approximate
print ut.getTime(), 'queried kdtree: ', len(
self.kdtree_queried_indices
), 'points, radius:', self.processor.feature_radius
if all_save_load == True:
ut.save_pickle(self.kdtree_queried_indices, filename)
#make dict out of list for faster operations? (doesn't seem to change speed significantly):
#self.kdtree_queried_indices = dict(zip(xrange(len(self.kdtree_queried_indices)), self.kdtree_queried_indices))
else: #experiemental: use_20_nearest_neighbors == True
#TODO: exclude invalid values in get_featurevector (uncomment code there)
self.kdtree2d = kdtree.KDTree(self.processor.pts3d_bound.T)
self.kdtree_queried_indices = []
print ut.getTime(
), 'kdtree single queries for kNN start, k=', features_k_nearest_neighbors
count = 0
for point in ((self.processor.pts3d_bound.T)[nonzero_indices]):
count = count + 1
result = self.kdtree2d.query(point,
features_k_nearest_neighbors, 0.2,
2, self.processor.feature_radius)
#existing = result[0][0] != np.Inf
#print existing
#print result[1]
self.kdtree_queried_indices += [result[1]] #[existing]
if count % 4096 == 0:
print ut.getTime(), count
print ut.getTime(), 'kdtree singe queries end'
#convert to numpy array -> faster access
self.kdtree_queried_indices = np.asarray(
self.kdtree_queried_indices)
#print self.kdtree_queried_indices
#takes long to compute:
#avg_len = 0
#minlen = 999999
#maxlen = 0
#for x in self.kdtree_queried_indices:
# avg_len += len(x)
# minlen = min(minlen, len(x))
# maxlen = max(maxlen, len(x))
#avg_len = avg_len / len(self.kdtree_queried_indices)
#print ut.getTime(), "range neighbors: avg_len", avg_len, 'minlen', minlen, 'maxlen', maxlen
#create HSV numpy images:
# compute the hsv version of the image
image_size = cv.cvGetSize(self.processor.img)
img_h = cv.cvCreateImage(image_size, 8, 1)
img_s = cv.cvCreateImage(image_size, 8, 1)
img_v = cv.cvCreateImage(image_size, 8, 1)
img_hsv = cv.cvCreateImage(image_size, 8, 3)
cv.cvCvtColor(self.processor.img, img_hsv, cv.CV_BGR2HSV)
cv.cvSplit(img_hsv, img_h, img_s, img_v, None)
self.imNP_h = ut.cv2np(img_h)
self.imNP_s = ut.cv2np(img_s)
self.imNP_v = ut.cv2np(img_v)
textures = texture_features.eigen_texture(self.processor.img)
self.imNP_tex1 = textures[:, :, 0]
self.imNP_tex2 = textures[:, :, 1]
self.debug_before_first_featurevector = True
self.generate_voi_histogram(self.processor.point_of_interest,
self.processor.voi_width)
def split(image):
img1 = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
img2 = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
img3 = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
cv.cvSplit(image, img1, img2, img3, None)
return (img1, img2, img3)
def split(image):
img1 = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
img2 = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
img3 = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
cv.cvSplit(image, img1, img2, img3, None)
return (img1, img2, img3)