def update_frame(val):
global n
global reference_angle
global previous_angle
reference_frameID = int(np.around(slider_reference_frame.val))
current_frameID = int(np.around(slider_current_frame.val))
frame0 = loadFrame(frameManager, reference_frameID, matrixID)
frame1 = loadFrame(frameManager, current_frameID, matrixID)
# Compute translation between reference frames
slipvector = NCC.normalized_cross_correlation(frame0, frame1)
# Compute orientation of reference frame
(centroid_x0, centroid_y0, angle0, Cov0, lambda10, lambda20,
std_dev_x0, std_dev_y0, skew_x0, skew_y0,
compactness10, compactness20, eccentricity10, eccentricity20) = IM.compute_orientation_and_shape_features(frame0)
# Compute orientation of current frame
features1 = IM.compute_orientation_and_shape_features(frame1)
(centroid_x1, centroid_y1, angle1, Cov1, lambda11, lambda21,
std_dev_x1, std_dev_y1, skew_x1, skew_y1,
compactness11, compactness21, eccentricity11, eccentricity21) = features1
IM.report_shape_features("Frame %d" %current_frameID , features1)
# Reset tracking if reference angle changed
if abs(reference_angle-angle0) > 0.001:
reference_angle = angle0 # [0, 180)
previous_angle = angle0 # [0, 360)
slip_angle = 0 # (-∞, ∞)
n = 0 # rotation carry
# Track rotation
current_angle, slip_angle, slip_angle_reference, n = IM.track_angle(reference_angle, previous_angle, angle1, n)
previous_angle = current_angle
###########
# Plotting
###########
# Reference frame
plot_frame(axes[1], frame0, centroid_x0, centroid_y0, Cov0)
# Current frame
plot_frame(axes[2], frame1, centroid_x1, centroid_y1, Cov1)
# Textbox
bbox_props = dict(boxstyle="round", fc="w", ec="0.5", alpha=1.0)
ax = axes[0]
ax.cla()
ax.axis('off')
ax.text(0.5, 0.5, text_template%(current_angle, slip_angle, slipvector[0], slipvector[1]),
transform=ax.transAxes, ha="center", va="center", size=14, bbox=bbox_props)
plt.draw()
def update_frame(val):
global n
global previous_angle
angle = np.around(slider_rotation.val)
shift = np.around(slider_translation.val)
frame1 = generate_frame(angle, shift) # Slip simulation
# Compute translation
slipvector = NCC.normalized_cross_correlation(frame0, frame1)
# Compute orientation
(centroid_x, centroid_y, angle, Cov, lambda1, lambda2,
std_dev_x, std_dev_y, skew_x, skew_y,
compactness1, compactness2, eccentricity1, eccentricity2) = IM.compute_orientation_and_shape_features(frame1)
# Track rotation
current_angle, slip_angle, slip_angle_reference, n = IM.track_angle(reference_angle, previous_angle, angle, n)
previous_angle = current_angle
###########
# Plotting
###########
ax = axes[1]
ax.cla() # clear
ax.imshow(frame1, cmap=cmap, vmin=0.001, vmax=1.0, interpolation='nearest')
l3, l4 = plot_principal_axes_cov(centroid_x, centroid_y, Cov, UIBK_orange, ax)
ax.set_title("Moving frame")
ax.text(0.01, 1.0, text_template_angle%(current_angle, slip_angle), size=12, color=UIBK_orange)
ax.text(0.01, 2.0, text_template_shift%(slipvector[0], slipvector[1]), size=12, color=UIBK_orange)
plt.draw()
def update_frame(val):
global n
global previous_angle
angle = np.around(slider_rotation.val)
shift = np.around(slider_translation.val)
frame1 = generate_frame(angle, shift) # Slip simulation
# Compute translation
slipvector = NCC.normalized_cross_correlation(frame0, frame1)
# Compute orientation
(centroid_x, centroid_y, angle, Cov, lambda1, lambda2, std_dev_x,
std_dev_y, skew_x, skew_y, compactness1, compactness2, eccentricity1,
eccentricity2) = IM.compute_orientation_and_shape_features(frame1)
# Track rotation
current_angle, slip_angle, slip_angle_reference, n = IM.track_angle(
reference_angle, previous_angle, angle, n)
previous_angle = current_angle
###########
# Plotting
###########
ax = axes[1]
ax.cla() # clear
ax.imshow(frame1, cmap=cmap, vmin=0.001, vmax=1.0, interpolation='nearest')
l3, l4 = plot_principal_axes_cov(centroid_x, centroid_y, Cov, UIBK_orange,
ax)
ax.set_title("Moving frame")
ax.text(0.01,
1.0,
text_template_angle % (current_angle, slip_angle),
size=12,
color=UIBK_orange)
ax.text(0.01,
2.0,
text_template_shift % (slipvector[0], slipvector[1]),
size=12,
color=UIBK_orange)
plt.draw()
# Minimum amount of active cells for slip vector thresh_active_cells_rotation = 5 # Minimum amount of active cells for slip angle thresh_eccentricity = 0.6 # Principal axis lengths (disc or square: 0.0, elongated rectangle: ->1.0) thresh_compactness = 0.9 # How much the object resembles a disc (perfect circle 1.0) # Get initial frame (Assumtion: valid frame) frame0 = loadFrame(frameManager, startID, matrixID) active_cells0 = frameManager.get_num_active_cells_matrix(startID, matrixID) # Compute orientation of initial frame (centroid_x, centroid_y, angle, Cov, lambda1, lambda2, std_dev_x, std_dev_y, skew_x, skew_y, compactness1, compactness2, eccentricity1, eccentricity2) = IM.compute_orientation_and_shape_features(frame0) reference_angle = angle # [0, 180) previous_angle = angle # [0, 360) slip_angle = 0 # (-∞, ∞) n = 0 # Rotation carry # Records r_slipvector = [] r_slipangle = [] r_centroid_x = [] r_centroid_y = [] r_angle = [] r_Cov = [] r_lambda1 = [] r_lambda2 = []
(
centroid_x,
centroid_y,
angle,
Cov,
lambda1,
lambda2,
std_dev_x,
std_dev_y,
skew_x,
skew_y,
compactness1,
compactness2,
eccentricity1,
eccentricity2,
) = IM.compute_orientation_and_shape_features(frame0)
reference_angle = angle # [0, 180)
previous_angle = angle # [0, 360)
slip_angle = 0 # (-∞, ∞)
n = 0 # Rotation carry
# Records
r_slipvector = []
r_slipangle = []
r_centroid_x = []
r_centroid_y = []
r_angle = []
r_Cov = []
frameManager = framemanager_python.FrameManagerWrapper() frameManager.load_profile(profileName); numFrames = frameManager.get_tsframe_count(); # Relative timestamps in seconds timestamps = frameManager.get_tsframe_timestamp_list()[startID:stopID] timestamps = (timestamps-timestamps[0]) / 1000.0 # Get initial frame (Assumtion: valid frame) frame0 = loadFrame(frameManager, startID, matrixID) active_cells0 = frameManager.get_num_active_cells_matrix(startID, matrixID) # Compute orientation of initial frame (centroid_x, centroid_y, angle, Cov, lambda1, lambda2, std_dev_x, std_dev_y, skew_x, skew_y, compactness1, compactness2, eccentricity1, eccentricity2) = IM.compute_orientation_and_shape_features(frame0) reference_angle = angle # [0, 180) previous_angle = angle # [0, 360) slip_angle = 0 # (-∞, ∞) n = 0 # Rotation carry # Records slipvectors = np.zeros([1,2]) slipvectors_ncc_1 = np.zeros([1,2]) slipvectors_ncc_2 = np.zeros([1,2]) slipvectors_pc = np.zeros([1,2]) slipangles = np.zeros([1,1])
(
centroid_x,
centroid_y,
angle_deg,
Cov,
lambda1,
lambda2,
std_dev_x,
std_dev_y,
skew_x,
skew_y,
compactness1,
compactness2,
eccentricity1,
eccentricity2,
) = IM.compute_orientation_and_shape_features(image)
#########
## PCA
#########
# Extract image coordinates of active cells
active_cells = np.array(np.where(image > 0.001)).T
active_cells = np.fliplr(active_cells) # x in first column, y in second
# Center the data
center = np.mean(active_cells, axis=0)
active_cells -= center
# Calculate the covariance matrix
Cov_PCA = np.cov(active_cells.T)
"img_disc_asymmetric.png",
#"img_test01.png",
"img_test02.png",
"img_test03.png",
"img_test04.png",
"img_test05.png",
"img_test06.png")
frames = []
for name in filenames:
frame = cv2.imread(name, cv2.CV_LOAD_IMAGE_GRAYSCALE)
frames.append((name, frame))
for frame in frames:
# Compute shape features and orientation
features = IM.compute_orientation_and_shape_features(frame[1])
# Report
IM.report_shape_features(frame[0], features)
########################
# Load pressure profile
########################
profileName = os.path.abspath("slip_and_rotation_teapot_handle.dsa")
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName)
frameID = 34
matrixID = 1
frame = np.copy(frameManager.get_tsframe(frameID, matrixID))
frame = np.uint8(frame /
color=color,
linewidth=3.0,
alpha=0.9)
ax.axis('image')
#image = cv2.imread('blob_symmetric.png', cv2.CV_LOAD_IMAGE_GRAYSCALE)
image = cv2.imread('blob_asymmetric.png', cv2.CV_LOAD_IMAGE_GRAYSCALE)
#################
# Image Moments
################
(centroid_x, centroid_y, angle_deg, Cov, lambda1, lambda2, std_dev_x,
std_dev_y, skew_x, skew_y, compactness1, compactness2, eccentricity1,
eccentricity2) = IM.compute_orientation_and_shape_features(image)
#########
## PCA
#########
# Extract image coordinates of active cells
active_cells = np.array(np.where(image > 0.001)).T
active_cells = np.fliplr(active_cells) # x in first column, y in second
# Center the data
center = np.mean(active_cells, axis=0)
active_cells -= center
# Calculate the covariance matrix
Cov_PCA = np.cov(active_cells.T)
# "img_test01.png",
"img_test02.png",
"img_test03.png",
"img_test04.png",
"img_test05.png",
"img_test06.png",
)
frames = []
for name in filenames:
frame = cv2.imread(name, cv2.CV_LOAD_IMAGE_GRAYSCALE)
frames.append((name, frame))
for frame in frames:
# Compute shape features and orientation
features = IM.compute_orientation_and_shape_features(frame[1])
# Report
IM.report_shape_features(frame[0], features)
########################
# Load pressure profile
########################
profileName = os.path.abspath("slip_and_rotation_teapot_handle.dsa")
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName)
frameID = 34
matrixID = 1
frame = np.copy(frameManager.get_tsframe(frameID, matrixID))
def update_frame(val):
global n
global reference_angle
global previous_angle
reference_frameID = int(np.around(slider_reference_frame.val))
current_frameID = int(np.around(slider_current_frame.val))
frame0 = loadFrame(frameManager, reference_frameID, matrixID)
frame1 = loadFrame(frameManager, current_frameID, matrixID)
# Compute translation between reference frames
slipvector = NCC.normalized_cross_correlation(frame0, frame1)
# Compute orientation of reference frame
(centroid_x0, centroid_y0, angle0, Cov0, lambda10, lambda20, std_dev_x0,
std_dev_y0, skew_x0, skew_y0, compactness10, compactness20,
eccentricity10,
eccentricity20) = IM.compute_orientation_and_shape_features(frame0)
# Compute orientation of current frame
features1 = IM.compute_orientation_and_shape_features(frame1)
(centroid_x1, centroid_y1, angle1, Cov1, lambda11, lambda21, std_dev_x1,
std_dev_y1, skew_x1, skew_y1, compactness11, compactness21,
eccentricity11, eccentricity21) = features1
IM.report_shape_features("Frame %d" % current_frameID, features1)
# Reset tracking if reference angle changed
if abs(reference_angle - angle0) > 0.001:
reference_angle = angle0 # [0, 180)
previous_angle = angle0 # [0, 360)
slip_angle = 0 # (-∞, ∞)
n = 0 # rotation carry
# Track rotation
current_angle, slip_angle, slip_angle_reference, n = IM.track_angle(
reference_angle, previous_angle, angle1, n)
previous_angle = current_angle
###########
# Plotting
###########
# Reference frame
plot_frame(axes[1], frame0, centroid_x0, centroid_y0, Cov0)
# Current frame
plot_frame(axes[2], frame1, centroid_x1, centroid_y1, Cov1)
# Textbox
bbox_props = dict(boxstyle="round", fc="w", ec="0.5", alpha=1.0)
ax = axes[0]
ax.cla()
ax.axis('off')
ax.text(0.5,
0.5,
text_template %
(current_angle, slip_angle, slipvector[0], slipvector[1]),
transform=ax.transAxes,
ha="center",
va="center",
size=14,
bbox=bbox_props)
plt.draw()
