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))
if args.output is not None:
# Original image
cv2.imwrite('{0}/input_{1:08d}.png'.format(args.output, frame), im)
# Output image
cv2.imwrite('{0}/output_{1:08d}.png'.format(args.output, frame),
im_draw)
# Keypoints
with open('{0}/keypoints_{1:08d}.csv'.format(args.output, frame),
'w') as f:
f.write('x y\n')
def foo(tl, br):
frame = 1
while True:
# Read image
status, im = cap.read()
#if frame >1:
# im = im[tl[1]-50:br[1]+50, tl[0]-50:br[0]+50] # Crop from x, y, w, h -> 100, 200, 300, 400
# NOTE: its img[y: y + h, x: x + w] and *not* img[x: x + w, y: y + h]
#cv2.imshow("cropped",im)
#cv2.waitKey(0)
if not status:
break
im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(im)
tic = time.time()
CMT[0].process_frame(im_gray)
toc = time.time()
tic2 = time.time()
CMT[1].process_frame(im_gray)
toc = time.time()
# Display results
# Draw updated estimate
if CMT[0].has_result:
cv2.line(im_draw, CMT[0].tl, CMT[0].tr, (255, 0, 0), 4)
cv2.line(im_draw, CMT[0].tr, CMT[0].br, (255, 0, 0), 4)
cv2.line(im_draw, CMT[0].br, CMT[0].bl, (255, 0, 0), 4)
cv2.line(im_draw, CMT[0].bl, CMT[0].tl, (255, 0, 0), 4)
if CMT[1].has_result:
cv2.line(im_draw, CMT[1].tl, CMT[1].tr, (255, 0, 0), 4)
cv2.line(im_draw, CMT[1].tr, CMT[1].br, (255, 0, 0), 4)
cv2.line(im_draw, CMT[1].br, CMT[1].bl, (255, 0, 0), 4)
cv2.line(im_draw, CMT[1].bl, CMT[1].tl, (255, 0, 0), 4)
util.draw_keypoints(CMT[0].tracked_keypoints, im_draw, (255, 255, 255))
# this is from simplescale
util.draw_keypoints(CMT[0].votes[:, :2], im_draw) # blue
util.draw_keypoints(CMT[0].outliers[:, :2], im_draw, (0, 0, 255))
util.draw_keypoints(CMT[1].tracked_keypoints, im_draw, (255, 255, 255))
# this is from simplescale
util.draw_keypoints(CMT[1].votes[:, :2], im_draw) # blue
util.draw_keypoints(CMT[1].outliers[:, :2], im_draw, (0, 0, 255))
if args.output is not None:
# Original image
cv2.imwrite('{0}/input_{1:08d}.png'.format(args.output, frame), im)
# Output image
cv2.imwrite('{0}/output_{1:08d}.png'.format(args.output, frame),
im_draw)
# Keypoints
with open('{0}/keypoints_{1:08d}.csv'.format(args.output, frame),
'w') as f:
f.write('x y\n')
np.savetxt(f, CMT[0].tracked_keypoints[:, :2], fmt='%.2f')
np.savetxt(f, CMT[1].tracked_keypoints[:, :2], fmt='%.2f')
# Outlier
with open('{0}/outliers_{1:08d}.csv'.format(args.output, frame),
'w') as f:
f.write('x y\n')
np.savetxt(f, CMT[0].outliers, fmt='%.2f')
np.savetxt(f, CMT[1].outliers, fmt='%.2f')
# Votes
with open('{0}/votes_{1:08d}.csv'.format(args.output, frame),
'w') as f:
f.write('x y\n')
np.savetxt(f, CMT[0].votes, fmt='%.2f')
np.savetxt(f, CMT[1].votes, fmt='%.2f')
# Bounding box
with open('{0}/bbox_{1:08d}.csv'.format(args.output, frame),
'w') 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[0].tl, CMT[0].tr, CMT[0].br,
CMT[0].bl, CMT[0].tl)),
fmt='%.2f')
np.savetxt(f,
np.array((CMT[1].tl, CMT[1].tr, CMT[1].br,
CMT[1].bl, CMT[1].tl)),
fmt='%.2f')
if not args.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
print '{5:04d}: center: {0:.2f},{1:.2f} scale: {2:.2f}, active: {3:03d}, {4:04.0f}ms'.format(
CMT[0].center[0], CMT[0].center[1], CMT[0].scale_estimate,
CMT[0].active_keypoints.shape[0], 1000 * (toc - tic), frame)
# Draw updated estimate
if CMT.has_result:
#Drawing center of Object
center = (((CMT.tl[0] + CMT.br[0]) / 2), ((CMT.tl[1] + CMT.br[1]) / 2))
(xcenter, ycenter) = center
cv2.line(frame, (xcenter, ycenter - 15), (xcenter, ycenter + 15),
(0, 0, 255), 3)
cv2.line(frame, (xcenter - 15, ycenter), (xcenter + 15, ycenter),
(0, 0, 255), 3)
cv2.circle(frame, center, 12, (0, 0, 255), 3)
#Drawing rectangle around object
cv2.line(frame, CMT.tl, CMT.tr, (255, 0, 0), 4)
cv2.line(frame, CMT.tr, CMT.br, (255, 0, 0), 4)
cv2.line(frame, CMT.br, CMT.bl, (255, 0, 0), 4)
cv2.line(frame, CMT.bl, CMT.tl, (255, 0, 0), 4)
#Drawing moving keypoints
util.draw_keypoints(CMT.tracked_keypoints, frame, (255, 255, 255))
# this is from simplescale
util.draw_keypoints(CMT.votes[:, :2], frame) # blue
util.draw_keypoints(CMT.outliers[:, :2], frame, (0, 0, 255))
cv2.imshow('frame', frame)
if cv2.waitKey(FRAME_TIME) == 27:
break
cap.release()
cv2.destroyAllWindows()
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))
if args.output is not None:
# Original image
cv2.imwrite('{0}/input_{1:08d}.png'.format(args.output, frame), im)
# Output image
cv2.imwrite('{0}/output_{1:08d}.png'.format(args.output, frame), im_draw)
# Keypoints
with open('{0}/keypoints_{1:08d}.csv'.format(args.output, frame), 'w') as f:
f.write('x y\n')
np.savetxt(f, CMT.tracked_keypoints[:, :2], fmt='%.2f')
def callback(self, data):
try:
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
# Read image
#status, im = cap.read()
#im=cv_image
#im_gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
im_gray = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
im_draw = np.copy(cv_image)
tic = time.time()
self.CRT.process_frame(im_gray)
self.CNT.process_frame(im_gray)
self.CST.process_frame(im_gray)
toc = time.time()
# Display results
# Draw updated estimate
if self.CRT.has_result:
cv2.line(im_draw, self.CRT.tl, self.CRT.tr, (255, 0, 0), 4)
cv2.line(im_draw, self.CRT.tr, self.CRT.br, (255, 0, 0), 4)
cv2.line(im_draw, self.CRT.br, self.CRT.bl, (255, 0, 0), 4)
cv2.line(im_draw, self.CRT.bl, self.CRT.tl, (255, 0, 0), 4)
if self.CNT.has_result:
cv2.line(im_draw, self.CNT.tl, self.CNT.tr, (255, 255, 0), 4)
cv2.line(im_draw, self.CNT.tr, self.CNT.br, (255, 255, 0), 4)
cv2.line(im_draw, self.CNT.br, self.CNT.bl, (255, 255, 0), 4)
cv2.line(im_draw, self.CNT.bl, self.CNT.tl, (255, 255, 0), 4)
if self.CST.has_result:
cv2.line(im_draw, self.CST.tl, self.CST.tr, (0, 255, 0), 4)
cv2.line(im_draw, self.CST.tr, self.CST.br, (0, 255, 0), 4)
cv2.line(im_draw, self.CST.br, self.CST.bl, (0, 255, 0), 4)
cv2.line(im_draw, self.CST.bl, self.CST.tl, (0, 255, 0), 4)
util.draw_keypoints(self.CRT.tracked_keypoints, im_draw,
(255, 255, 255))
# this is from simplescale
util.draw_keypoints(self.CRT.votes[:, :2], im_draw) # blue
util.draw_keypoints(self.CRT.outliers[:, :2], im_draw, (0, 0, 255))
cv2.imshow('main', im_draw)
# Check key input
#k = cv2.waitKey(self.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
self.frame += 1
print(
'{5:04d}: center: {0:.2f},{1:.2f} scale: {2:.2f}, active: {3:03d}, {4:04.0f}ms'
.format(self.CRT.center[0], self.CRT.center[1],
self.CRT.scale_estimate,
self.CRT.active_keypoints.shape[0], 1000 * (toc - tic),
self.frame))
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
except CvBridgeError as e:
print(e)
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)
#-*-coding:utf-8-*-
import cv2
import os
from body import Body
from util import draw_keypoints, draw_skeleton
if __name__ == '__main__':
weight_path = '/home/tl/Desktop/pytorch-openpose (copy)/model/body_pose_model.pth'
test_dir = '/media/zhuzhu/6684B82784B7F81F/debug/src'
dest_dir = '/media/zhuzhu/6684B82784B7F81F/debug/dst'
model = Body(weight_path)
for img in os.listdir(test_dir):
img_path = os.path.join(test_dir, img)
oriImg = cv2.imread(img_path) # B,G,R order
candidate, subset = model(ori_img)
canvas = draw_keypoints(ori_img, candidate, subset)
canvas = draw_skeleton(canvas, candidate, subset)
cv2.imwrite(os.path.join(dest_dir, img), canvas)
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
