def key_press(e):
k = e.key()
if k == ord('+'):
constant[0] *= 2
elif k == ord('-'):
constant[0] /= 2
elif k == QtCore.Qt.Key_Space:
im_gray0, (tl, br) = detect()
CMT.initialise(im_gray0, tl, br)
print constant[0]
results = empty((num_frames, 4))
results[:] = nan
results[0, :] = init_region
frame = 0
im0 = cv2.imread(images[frame])
im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im0)
tl, br = (util.array_to_int_tuple(init_region[:2]),
util.array_to_int_tuple(init_region[:2] + init_region[2:4] - 1))
try:
CMT.initialise(im_gray0, tl, br)
while frame < num_frames:
im = cv2.imread(images[frame])
im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
CMT.process_frame(im_gray)
results[frame, :] = CMT.bb
# Advance frame number
frame += 1
except:
pass # Swallow errors
np.savetxt('output.txt', results, delimiter=',')
else:
# Clean up
def main(estimate_scale=True,
estimate_rotation=True,
input_box=None,
input_pic=None,
output=None):
CMT.estimate_scale = estimate_scale
CMT.estimate_rotation = estimate_rotation
pause_time = 10
skip = None
preview = None
quiet = False
if input_pic is not None:
print input_pic
input_dir = input_pic
elif args.inputpath is not None:
print args.inputpath
input_dir = args.inputpath
else:
input_dir = None
if output is not None:
output_dir = output
elif args.output is not None:
output_dir = args.output
else:
output_dir = None
if input_box is not None:
init_box = input_box
elif args.bbox is not None:
init_box = args.bbox
else:
init_box = None
if output_dir is not None:
quiet = True
if not os.path.exists(output_dir):
os.mkdir(output_dir)
elif not os.path.isdir(output_dir):
raise Exception(output_dir + ' exists, but is not a directory')
# Clean up
cv2.destroyAllWindows()
if input_dir is not None:
# If a path to a file was given, assume it is a single video file
if os.path.isfile(input_dir):
cap = cv2.VideoCapture(input_dir)
#Skip first frames if required
if skip is not None:
cap.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, skip)
# Otherwise assume it is a format string for reading images
else:
cap = util.FileVideoCapture(input_dir)
#Skip first frames if required
if skip is not None:
cap.frame = 1 + skip
# By default do not show preview in both cases
if preview is None:
preview = False
else:
# If no input path was specified, open camera device
cap = cv2.VideoCapture(0)
if preview is None:
preview = True
# Check if videocapture is working
if not cap.isOpened():
print 'Unable to open video input.'
sys.exit(1)
while preview:
status, im = cap.read()
cv2.imshow('Preview', im)
k = cv2.waitKey(10)
if not k == -1:
break
# Read first frame
status, im0 = cap.read()
im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im0)
if init_box is not None:
# Try to disassemble user specified bounding box
values = init_box.split(',')
try:
values = [int(v) for v in values]
except:
raise Exception('Unable to parse bounding box')
if len(values) != 4:
raise Exception('Bounding box must have exactly 4 elements')
bbox = np.array(values)
# Convert to point representation, adding singleton dimension
bbox = util.bb2pts(bbox[None, :]) #bbox[None, :]=array([[a, b, c,d]])
# Squeeze
bbox = bbox[0, :]
tl = bbox[:2]
br = bbox[2:4]
else:
# Get rectangle input from user
(tl, br) = util.get_rect(im_draw)
print 'using', tl, br, 'as init bb'
#CMT.initialise(im0, tl, br)
CMT.initialise(im_gray0, tl, br)
#util.draw_keypoints(selected_keypoints, im_gray0,(255, 0, 0))
frame = 1
while True:
# Read image
status, im = cap.read()
if not status:
break
im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im)
tic = time.time()
CMT.process_frame(im)
#CMT.process_frame(im_gray)
toc = time.time()
# Display results
# Draw updated estimate
if CMT.has_result:
cv2.line(im_draw, CMT.tl, CMT.tr, (255, 0, 0), 2)
cv2.line(im_draw, CMT.tr, CMT.br, (255, 0, 0), 2)
cv2.line(im_draw, CMT.br, CMT.bl, (255, 0, 0), 2)
cv2.line(im_draw, CMT.bl, CMT.tl, (255, 0, 0), 2)
# cv2.imshow("im_draw1",im_draw)
# cv2.waitKey()
#util.draw_keypoints(CMT.tracked_keypoints, im_draw, (255, 255, 255))
# this is from simplescale
#util.draw_keypoints(CMT.votes[:, :2], im_draw) # blue
#util.draw_keypoints(CMT.outliers[:, :2], im_draw, (0, 0, 255))
if output_dir is not None:
# Original image
# cv2.imwrite('{0}/input_{1:08d}.png'.format(output_dir, frame), im)
# Output image
cv2.imwrite('{0}/output_{1:08d}.png'.format(output_dir, frame),
im_draw)
'''
# Keypoints
with open('{0}/keypoints_{1:08d}.csv'.format(output_dir, frame), 'w') as f:
f.write('x y\n')
np.savetxt(f, CMT.tracked_keypoints[:, :2], fmt='%.2f')
# Outlier
with open('{0}/outliers_{1:08d}.csv'.format(output_dir, frame), 'w') as f:
f.write('x y\n')
np.savetxt(f, CMT.outliers, fmt='%.2f')
# Votes
with open('{0}/votes_{1:08d}.csv'.format(output_dir, frame), 'w') as f:
f.write('x y\n')
np.savetxt(f, CMT.votes, fmt='%.2f')
'''
# Bounding box
# with open('{0}/bbox_{1:08d}.csv'.format(output_dir, frame), 'w') as f:
with open('{0}/bbox.txt'.format(output_dir, frame), 'a') as f:
# f.write('x y\n')
# Duplicate entry tl is not a mistake, as it is used as a drawing instruction
# np.savetxt(f, np.array((CMT.tl, CMT.tr, CMT.br, CMT.bl, CMT.tl)), fmt='%.2f')
L = []
for i in [CMT.tl, CMT.tr, CMT.br, CMT.bl]:
#st = '(' + str(int(i[0])) + ' ' + str(int(i[1])) + ')'
st = '(' + str(float(i[0])) + ' ' + str(float(i[1])) + ')'
L.append(st)
bb = ','.join(L)
f.write(bb + '\n')
if not quiet:
cv2.imshow('main', im_draw)
# Check key input
k = cv2.waitKey(pause_time)
key = chr(k & 255)
if key == 'q':
break
if key == 'd':
import ipdb
ipdb.set_trace()
# Remember image
im_prev = im_gray
# Advance frame number
frame += 1
results = empty((num_frames, 4))
results[:] = nan
results[0, :] = init_region
frame = 0
im0 = cv2.imread(images[frame])
im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im0)
tl, br = (util.array_to_int_tuple(init_region[:2]), util.array_to_int_tuple(init_region[:2] + init_region[2:4] - 1))
try:
CMT.initialise(im_gray0, tl, br)
while frame < num_frames:
im = cv2.imread(images[frame])
im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
CMT.process_frame(im_gray)
results[frame, :] = CMT.bb
# Advance frame number
frame += 1
except:
pass # Swallow errors
np.savetxt('output.txt', results, delimiter=',')
else:
# Clean up
def callback(self, data):
global frame
global started
#global cv_image
try:
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
print(self.bridge.imgmsg_to_cv2(data, "bgr8"))
except CvBridgeError as e:
print(e)
# Clean up
preview = 'preview'
# If no input path was specified, open camera device
#cap = cv2.VideoCapture(0)
if preview is None:
preview = True
# Check if videocapture is working
#if not cap.isOpened():
# print("Unable to open video input.")
# sys.exit(1)
#while preview:
#status, im = cap.read()
status = True
im = cv_image
if started == 0:
cv2.imshow('Preview', im)
#cv2.imshow('Preview', cv_image)
k = cv2.waitKey(10)
if not k == -1:
#break
im0 = cv_image
im_gray0 = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
#im_gray0 = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(cv_image)
(tl, br) = util.get_rect(im_draw)
print("using", tl, br, "as init bb")
CMT.initialise(im_gray0, tl, br)
frame = 1
started = 1
cv2.destroyAllWindows()
# Read first frame
#status, im0 = cap.read()
if started == 1:
# Read image
#status, im = cap.read()
#im=cv_image
if not status:
cv2.destroyAllWindows()
sys.exit(1)
im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
#im_gray = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im)
#im_draw = np.copy(cv_image)
tic = time.time()
CMT.process_frame(im_gray)
toc = time.time()
# Display results
# Draw updated estimate
if CMT.has_result:
cv2.line(im_draw, CMT.tl, CMT.tr, (255, 0, 0), 4)
cv2.line(im_draw, CMT.tr, CMT.br, (255, 0, 0), 4)
cv2.line(im_draw, CMT.br, CMT.bl, (255, 0, 0), 4)
cv2.line(im_draw, CMT.bl, CMT.tl, (255, 0, 0), 4)
util.draw_keypoints(CMT.tracked_keypoints, im_draw,
(255, 255, 255))
# this is from simplescale
util.draw_keypoints(CMT.votes[:, :2], im_draw) # blue
util.draw_keypoints(CMT.outliers[:, :2], im_draw, (0, 0, 255))
cv2.imshow('main', im_draw)
#cv2.imshow('main', im_draw)
# Check key input
k = cv2.waitKey(pause_time)
key = chr(k & 255)
if key == 'q':
#cap.release()
cv2.destroyAllWindows()
rospy.signal_shutdown("ROSPy Shutdown")
#break
sys.exit(1)
if key == 'd':
import ipdb
ipdb.set_trace()
# Remember image
im_prev = im_gray
# Advance frame number
frame += 1
print(
"{5:04d}: center: {0:.2f},{1:.2f} scale: {2:.2f}, active: {3:03d}, {4:04.0f}ms"
.format(CMT.center[0], CMT.center[1], CMT.scale_estimate,
CMT.active_keypoints.shape[0], 1000 * (toc - tic),
frame))
#(rows,cols,channels) = cv_image.shape
#if cols > 60 and rows > 60 :
# cv2.circle(cv_image, (50,50), 10, 255)
cv2.imshow("Image window", cv_image)
cv2.waitKey(3)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
except CvBridgeError as e:
print(e)
def run_CMT(input_path, skip_frames, bbox, SHOW_IMAGES=False, clip_name='main'):
from numpy import empty, nan
import CMT
import util
CMT = CMT.CMT()
CMT.estimate_scale = True
CMT.estimate_rotation = False
# read video and set delay accordingly
cap = cv2.VideoCapture(input_path)
cap.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, skip_frames)
# something wrong with reading the shot it seems
if not cap.isOpened():
print '#Unable to open video input.'
sys.exit(1)
status, im0 = cap.read()
im_gray0_ = cv2.cvtColor(im0, cv2.COLOR_BGR2GRAY)
im_gray0 = cv2.equalizeHist(im_gray0_)
im_draw = np.copy(im0)
# prepare initial bbox values
bbox_values = [int(v) for v in bbox]
bbox = array(bbox_values)
# Convert to point representation, adding singleton dimension
bbox = util.bb2pts(bbox[None, :])
# Squeeze
bbox = bbox[0, :]
tl = bbox[:2]
br = bbox[2:4]
print '#using', tl, br, 'as init bb'
CMT_TRACKS=[]
CMT.initialise(im_gray0, tl, br)
frame = 1
while True:
# Read image
status, im = cap.read()
if not status:
break
im_gray_ = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
im_gray = cv2.equalizeHist(im_gray_)
im_draw = np.copy(im)
tic = time.time()
CMT.process_frame(im_gray)
toc = time.time()
# Display results
# Draw updated estimate
if CMT.has_result:
cv2.line(im_draw, CMT.tl, CMT.tr, (255, 0, 0), 4)
cv2.line(im_draw, CMT.tr, CMT.br, (255, 0, 0), 4)
cv2.line(im_draw, CMT.br, CMT.bl, (255, 0, 0), 4)
cv2.line(im_draw, CMT.bl, CMT.tl, (255, 0, 0), 4)
CMT_rect = [CMT.tl, CMT.tr,CMT.bl,CMT.br]
util.draw_keypoints(CMT.tracked_keypoints, im_draw, (255, 255, 255))
# this is from simplescale
util.draw_keypoints(CMT.votes[:, :2], im_draw) # blue
util.draw_keypoints(CMT.outliers[:, :2], im_draw, (0, 0, 255))
if SHOW_IMAGES:
cv2.imshow(clip_name, im_draw)
# Check key input
k = cv2.cv.WaitKey(10) & 0xff
# if args.quiet:
# if CMT.has_result: print '1'#, print_str
# else: print '0'#, print_str
# Remember image
im_prev = im_gray
# Advance frame number
frame += 1
print_str = '{5:04d}: center: {0:.2f},{1:.2f} scale: {2:.2f}, active: {3:03d}, {4:04.0f}ms'.format(CMT.center[0], CMT.center[1], CMT.scale_estimate, CMT.active_keypoints.shape[0], 1000 * (toc - tic), frame)
if CMT.has_result: CMT_TRACKS.append([1,CMT_rect])
else: CMT_TRACKS.append([0,nan])#, print_str
return CMT_TRACKS
