def draw_detections_3D(image, detections, cam, model_map):
"""Draws 6D detections onto resized image
Parameters
----------
image: Numpy array, normalized to [0-1]
detections: A list of detections for this image, coming from SSD.detect() in the form
[l, t, r, b, name, confidence, 6D_pose0, ..., 6D_poseN]
cam: Intrinsics for rendering
model_map: Mapping of model name to Model3D instance {'obj': model3D}
"""
if not detections:
return np.copy(image)
ren = Renderer((image.shape[1], image.shape[0]), cam)
ren.clear()
out = np.copy(image)
for det in detections:
model = model_map[det[4]]
for pose in det[6:]:
ren.draw_model(model, pose)
ren.draw_boundingbox(model, pose)
col, dep = ren.finish()
# Copy the rendering over into the scene
mask = np.dstack((dep, dep, dep)) > 0
out[mask] = col[mask]
return out
def draw_detections_3D(image, detections, cam, model_map):
"""Draws 6D detections onto resized image
Parameters
----------
image: Numpy array, normalized to [0-1]
detections: A list of detections for this image, coming from SSD.detect() in the form
[l, t, r, b, name, confidence, 6D_pose0, ..., 6D_poseN]
cam: Intrinsics for rendering
model_map: Mapping of model name to Model3D instance {'obj': model3D}
"""
if not detections:
return np.copy(image)
ren = Renderer((image.shape[1], image.shape[0]), cam)
ren.clear()
out = np.copy(image)
for det in detections:
model = model_map[det[4]]
for pose in det[6:]:
ren.draw_model(model, pose)
ren.draw_boundingbox(model, pose)
col, dep = ren.finish()
# Copy the rendering over into the scene
mask = np.dstack((dep, dep, dep)) > 0
out[mask] = col[mask]
return out
perturbed_pose = perturb_pose(gt_pose, max_rot_pert, max_trans_pert)
refinable = Refinable(model=bench.models[str(int(obj))], label=0, hypo_pose=perturbed_pose,
metric_crop_shape=croppings[dataset_name]['obj_{:02d}'.format(int(obj))], input_col=col)
for i in range(iterations):
refinable.input_col = col.copy()
start = timer()
refiner.iterative_contour_alignment(refinable=refinable, max_iterations=1)
end = timer()
# Rendering of results
ren.clear()
ren.draw_background(col)
ren.draw_boundingbox(refinable.model, refinable.hypo_pose)
ren.draw_model(refinable.model, refinable.hypo_pose, ambient=0.5, specular=0, shininess=100,
light_col=[1, 1, 1], light=[0, 0, -1])
render_col, _ = ren.finish()
render_col = render_col.copy()
cv2.imshow("Input Image", col)
# Draw FPS in top left corner
fps = "FPS: " + str(int(1 / (end - start)))
cv2.rectangle(render_col, (0, 0), (133, 40), (1., 1., 1.), -1)
cv2.putText(render_col, fps, (3, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2)
cv2.imshow("Refined Output", render_col)
cv2.waitKey(500)