def cli(frame_sequence, file_to_load, file_to_dump, show):
"""
FRAME_SEQUENCE path to a video file or shell-like wildcard describing
multiple images
"""
sequence = frameseq.read_grayscale_f32(frame_sequence)
if file_to_load is not None:
corner_storage = load(file_to_load)
else:
corner_storage = build(sequence)
if file_to_dump is not None:
dump(corner_storage, file_to_dump)
if show:
click.echo(
"Press 'q' to stop, 'd' to go forward, 'a' to go backward"
)
frame = 0
while True:
grayscale = sequence[frame]
bgr = draw(grayscale, corner_storage[frame])
cv2.imshow('Frame', bgr)
key = chr(cv2.waitKey(20) & 0xFF)
if key == 'a' and frame > 0:
frame -= 1
if key == 'd' and frame + 1 < len(corner_storage):
frame += 1
if key == 'q':
break
def run_tests(config, output_dir, corners_dir):
# pylint:disable=too-many-locals
_make_dir_if_needed(output_dir)
_make_dir_if_needed(corners_dir)
corners_ok_count = 0
tracking_ok_count = 0
all_r_errors = []
all_t_errors = []
for test_name, test_info in config.items():
click.echo(test_name)
test_dir = path.join(output_dir, test_name)
_make_dir_if_needed(test_dir, 1)
grayscale_seq = frameseq.read_grayscale_f32(test_info.rgb)
inf_errors = np.full((len(grayscale_seq), ), np.inf)
all_r_errors.append(inf_errors)
all_t_errors.append(inf_errors)
corner_storage = _load_or_calculate_corners(grayscale_seq, test_name,
test_dir, corners_dir)
if not corner_storage:
click.echo(' corner tracking failed')
continue
corners_ok_count += _describe_and_check_corners(corner_storage)
ground_truth = _read_ground_truth(test_info.ground_truth)
track, point_cloud = _do_tracking(test_info, ground_truth,
corner_storage, test_dir)
if not track:
click.echo(' camera tracking failed')
continue
_write_poses(track, path.join(test_dir, 'track.yml'))
_write_point_cloud(point_cloud, path.join(test_dir, 'point_cloud.yml'))
r_errors, t_errors = cmptrack.calc_errors(ground_truth, track)
all_r_errors[-1] = r_errors
all_t_errors[-1] = t_errors
tracking_ok_count += _describe_and_check_camera_track_errors(
r_errors, t_errors, test_info.translation_error_allowed,
test_info.rotation_deg_error_allowed)
all_r_errors = np.concatenate(all_r_errors)
all_t_errors = np.concatenate(all_t_errors)
error_measure = cmptrack.calc_vol_under_surface(all_r_errors, all_t_errors)
click.echo('corners OK: {}/{}'.format(corners_ok_count, len(config)))
click.echo('tracking OK: {}/{}'.format(tracking_ok_count, len(config)))
click.echo('total error measure: {}'.format(error_measure))
_write_error_measure(error_measure,
path.join(output_dir, 'error_measure.yml'))
def run_tests(config, output_dir, corners_dir):
# pylint:disable=too-many-locals
_make_dir_if_needed(output_dir)
_make_dir_if_needed(corners_dir)
all_r_errors = []
all_t_errors = []
for test_name, test_info in config.items():
click.echo(test_name)
test_dir = path.join(output_dir, test_name)
_make_dir_if_needed(test_dir, 1)
grayscale_seq = frameseq.read_grayscale_f32(test_info.rgb)
inf_errors = np.full((len(grayscale_seq),), np.inf)
all_r_errors.append(inf_errors)
all_t_errors.append(inf_errors)
corner_storage = _load_or_calculate_corners(grayscale_seq, test_name,
test_dir, corners_dir)
if not corner_storage:
continue
ground_truth = _read_ground_truth(test_info.ground_truth)
track, point_cloud = _do_tracking(test_info, ground_truth,
corner_storage, test_dir)
if not track:
continue
_write_poses(track, path.join(test_dir, 'track.yml'))
_write_point_cloud(point_cloud, path.join(test_dir, 'point_cloud.yml'))
r_errors, t_errors = cmptrack.calc_errors(ground_truth, track)
all_r_errors[-1] = r_errors
all_t_errors[-1] = t_errors
click.echo(' rotation error (degrees): median={}, max={}'.format(
np.median(np.degrees(r_errors)),
np.degrees(r_errors).max()
))
click.echo(' translation error: median={}, max={}'.format(
np.median(t_errors),
t_errors.max()
))
click.echo(' overall error measure: {}'.format(
cmptrack.calc_vol_under_surface(r_errors, t_errors)
))
all_r_errors = np.concatenate(all_r_errors)
all_t_errors = np.concatenate(all_t_errors)
error_measure = cmptrack.calc_vol_under_surface(all_r_errors, all_t_errors)
click.echo('total error measure: {}'.format(error_measure))
_write_error_measure(error_measure,
path.join(output_dir, 'error_measure.yml'))
def cli(frame_sequence, camera, track_destination, point_cloud_destination,
file_to_load_corners, show, camera_poses_file, frame_1, frame_2):
"""
FRAME_SEQUENCE path to a video file or shell-like wildcard describing
multiple images\n
CAMERA intrinsic parameters of camera\n
TRACK_DESTINATION path to file for dumping result camera track\n
POINT_CLOUD_DESTINATION path to file for dumping result point cloud
"""
sequence = frameseq.read_grayscale_f32(frame_sequence)
if file_to_load_corners is not None:
corner_storage = load(file_to_load_corners)
else:
corner_storage = build(sequence)
if camera_poses_file is not None and frame_1 is not None and frame_2 is not None:
known_camera_poses = read_poses(camera_poses_file)
known_view_1 = frame_1, known_camera_poses[frame_1]
known_view_2 = frame_2, known_camera_poses[frame_2]
else:
known_view_1 = None
known_view_2 = None
camera_parameters = read_camera_parameters(camera)
poses, point_cloud = track_and_calc_colors(
camera_parameters,
corner_storage,
frame_sequence,
known_view_1,
known_view_2
)
write_poses(poses, track_destination)
write_point_cloud(point_cloud, point_cloud_destination)
if show:
click.echo(
"Press 'q' to stop, 'd' to go forward, 'a' to go backward, "
"'r' to restart"
)
frame = 0
while True:
grayscale = sequence[frame]
bgra = draw_residuals(grayscale, corner_storage[frame],
point_cloud, camera_parameters,
poses[frame])
cv2.imshow('Frame', bgra)
key = chr(cv2.waitKey(20) & 0xFF)
if key == 'r':
frame = 0
if key == 'a' and frame > 0:
frame -= 1
if key == 'd' and frame + 1 < len(corner_storage):
frame += 1
if key == 'q':
break
def cli(frame_sequence, file_to_load, file_to_dump, show):
"""
FRAME_SEQUENCE path to a video file or shell-like wildcard describing
multiple images
"""
sequence = frameseq.read_grayscale_f32(frame_sequence)
if file_to_load is not None:
corner_storage = load(file_to_load)
else:
corner_storage = build(sequence)
if file_to_dump is not None:
dump(corner_storage, file_to_dump)
if show:
for i, image in enumerate(sequence):
im = draw(image, corner_storage[i])
cv2.imwrite('{}.png'.format(i), (im * 255).astype(np.uint8))
def run_tests(config, output_dir, corners_dir, corners_config, min_track_len):
_make_dir_if_needed(output_dir)
_make_dir_if_needed(corners_dir)
all_r_errors = []
all_t_errors = []
for test_name, test_info in config.items():
click.echo(test_name)
test_dir = path.join(output_dir, test_name)
_make_dir_if_needed(test_dir, 1)
grayscale_seq = frameseq.read_grayscale_f32(test_info.rgb)
inf_errors = np.full((len(grayscale_seq), ), np.inf)
all_r_errors.append(inf_errors)
all_t_errors.append(inf_errors)
corner_storage = _load_or_calculate_corners(grayscale_seq, test_name,
test_dir, corners_dir,
corners_config,
min_track_len)
if not corner_storage:
continue
track, point_cloud = _do_tracking(test_info, corner_storage, test_dir)
if not track:
continue
_write_poses(track, path.join(test_dir, 'track.yml'))
_write_point_cloud(point_cloud, path.join(test_dir, 'point_cloud.yml'))
ground_truth = _read_ground_truth(test_info.ground_truth)
r_errors, t_errors = cmp.calc_errors(ground_truth, track)
all_r_errors[-1] = r_errors
all_t_errors[-1] = t_errors
click.echo(' error measure: {}'.format(
cmp.calc_vol_under_surface(r_errors, t_errors)))
all_r_errors = np.concatenate(all_r_errors)
all_t_errors = np.concatenate(all_t_errors)
error_measure = cmp.calc_vol_under_surface(all_r_errors, all_t_errors)
click.echo('overall error measure: {}'.format(error_measure))
_write_error_measure(error_measure,
path.join(output_dir, 'error_measure.yml'))
