def label_util1():
scan = dset.Scan('../data/util1-real')
scan.im_files[3] = os.path.join(scan.path, 'raw/2014-05-24 17.34.10.jpg')
scan.im_files[4] = os.path.join(scan.path, 'raw/2014-05-24 17.35.07.jpg')
label_box(scan, 3)
mesh = box.load_from_mat('../data/util1-real/cube.mat')
ig.show([box.draw_faces(mesh, scan, 3, hires=0), scan.im(3)])
def render_scene(scene, texel_colors, mesh=None):
scan = dset.Scan(scene)
if mesh is None:
mesh = load_from_mat(ut.pjoin(scan.path, 'cube.mat'))
# click to toggle between the rendered image and the mesh
ig.show([('cycle',
[mesh.render(scan, frame, texel_colors),
scan.im(frame)]) for frame in xrange(scan.length)])
def label_util2():
scan = dset.Scan('../data/util2-real')
#ig.show([[frame, ig.resize(scan.im(frame), 0.5), f, ig.resize(ig.load(f), scan.scale*0.5)] for frame, f in zip(scan.frames, glob.glob(ut.pjoin(scan.path, 'raw', '*.jpg')))])
frame = 0
scan.im_files[
frame] = '/data/vision/billf/camo/camo/nondetect/data/util2-real/raw/2014-05-25 17.17.02.jpg'
label_box(scan, frame)
mesh = box.load_from_mat('../data/util2-real/cube.mat')
ig.show([box.draw_faces(mesh, scan, frame), scan.im(frame)])
def test_tour(par=1):
ip.reset(par)
scene = 'disrupt-11'
scan = dset.Scan('../data/%s' % scene)
texel_colors = ut.load(
ut.pjoin(figures.make_path('noloo', 'interior-wide', scene),
'data.pk'))['ret'][0]
mesh = box.load_from_mat(ut.pjoin(scan.path, 'cube.mat'))
tour(scan,
mesh,
texel_colors, [0, 1, 2],
plane_idx=0,
outline_start=0,
par=par)
def test_box(path,
inds=None,
hires=1,
as_cycle=False,
label_faces=False,
mesh=None):
scan = dset.Scan(path)
if mesh is None:
mesh = load_from_mat(os.path.join(path, 'cube.mat'))
ut.toplevel_locals()
if inds is None:
inds = range(scan.length)
ims = [
draw_faces(mesh, scan, i, hires=hires, label_faces=label_faces)
for i in inds
]
if as_cycle:
ig.show([('cycle', ims)])
else:
ig.show(ims)
def test_camo(scene='../data/charlottesville-3', method='random'):
""" Camouflage a box in a given scene using the specified method. Generates a webpage showing the result """
scan = dset.Scan(scene)
mesh = box.load_from_mat(os.path.join(scene, 'cube.mat'))
texel_colors = camo(scan, mesh, method)[0]
box.render_scene(scene, texel_colors, mesh)
def label_box(seq,
root=0,
side_len1=None,
side_len2=None,
side_len3=None,
y_flip=True,
mode='normal'):
print seq
if type(seq) == type(''):
scan = dset.Scan(seq, None)
else:
scan = seq
seq = scan.path
if mode == 'normal':
_, _, tracks = dset.read_bundler(scan.bundle_file, scan.full_shape)
pts = np.array([t[0] for t in tracks])
proj = scan.project(root, pts)
w = 1
pylab.clf()
im_with_pts = ig.draw_pts(scan.im(root), proj, width=w)
pylab.imshow(im_with_pts)
rect = ut.bbox2d(pylab.ginput(2, timeout=-1))
#rect = (1782.005828476269, 1431.7364696086595, 529.75936719400488, 354.40549542048279)
print rect
ok = ut.land(rect[0] <= proj[:, 0], proj[:, 0] <= rect[0] + rect[2],
rect[1] <= proj[:, 1], proj[:, 1] <= rect[1] + rect[3])
pts_in_box = pts[ok]
thresh = pylab.dist(scan.center(root), scan.center(root + 1)) / 50.
plane, _ = planefit.fit_plane_ransac(pts_in_box, thresh)
if plane[1] < 0 and y_flip:
plane *= -1
ins = planefit.plane_inliers(plane, pts, thresh)
pylab.clf()
colors = np.zeros_like(pts)
colors[:, 0] = 255
colors[ins] = (0, 255, 0)
im_ins = ig.draw_pts(scan.im(root),
map(ut.itup, proj),
map(ut.itup, colors),
width=w)
pylab.clf()
pylab.imshow(im_ins)
if not input('ok? '):
return
print 'click 2 points (used to recalibrate the plane)'
rect = ut.bbox2d(pylab.ginput(2, timeout=-1))
ok = ut.land(rect[0] <= proj[:, 0], proj[:, 0] <= rect[0] + rect[2],
rect[1] <= proj[:, 1], proj[:, 1] <= rect[1] + rect[3])
pts_in_box = pts[ok]
print 'plane before', plane
plane[3] = -np.median(np.dot(pts_in_box, plane[:3]))
print 'plane after', plane[3]
if 1:
print 'hack'
im_ins = scan.im(root)
pylab.clf()
pylab.imshow(im_ins)
print 'click 3 base points'
px = pylab.ginput(3, timeout=-1)
#px = [(2270.2989175686921, 1482.9937552039967), (2297.2764363030801, 1555.8330557868442), (2405.1865112406322, 1550.4375520399667)]
def backproj(p):
ray = ut.normalized(
np.dot(mvg.pixel_ray_matrix(scan.R(root), scan.K(root)),
ut.homog(p)))
c = scan.center(root)
dist = (-plane[3] - np.dot(c, plane[:3])) / np.dot(ray, plane[:3])
assert dist >= 0
pt = c + ray * dist
print planefit.dist_to_plane(plane, pt[np.newaxis, :])
return pt
sc = 1.
while 1:
cb = np.array(map(backproj, px))
v1 = cb[0] - cb[1]
v2 = cb[2] - cb[1]
if side_len1 is None:
side_len1 = 0.5 * (np.linalg.norm(v1) + np.linalg.norm(v2))
if side_len2 is None:
side_len2 = side_len1
if side_len3 is None:
side_len3 = side_len1
a1 = sc * side_len1
a2 = sc * side_len2
a3 = sc * side_len3
print 'side1', a1, 'side2', a2, 'side3', a3, 'thresh =', thresh, \
'v1 =', np.linalg.norm(v1), 'v2 = ', np.linalg.norm(v2)
R = np.zeros((3, 3))
cr = ut.normalized(np.cross(v1, plane[:3]))
cr *= np.sign(np.dot(cr, v2))
R[0] = a1 * ut.normalized(v1)
R[1] = a2 * ut.normalized(cr)
R[2] = a3 * ut.normalized(plane[:3])
print ut.normax(R, 1)
mesh_pts = []
for zi in xrange(2):
for yi in xrange(2):
for xi in xrange(2):
mesh_pts.append(cb[1] + R[0] * xi + R[1] * yi +
R[2] * zi)
face_idx = -1 + np.array(
[[1, 2, 4, 3],
np.array([1, 2, 4, 3]) + 4, [1, 2, 2 + 4, 1 + 4],
[2, 4, 4 + 4, 2 + 4], [4, 3, 3 + 4, 4 + 4],
[3, 1, 1 + 4, 3 + 4]])
mesh = box.Mesh(face_idx, mesh_pts, texsize=128)
# show a preview
scan_ = dset.Scan(seq)
ig.show(
[[1 + i,
box.draw_faces(mesh, scan_, i, hires=0),
scan_.im(i)] for i in [root, root + 1]])
if input('ok? '):
box.save_mesh(ut.pjoin(seq, 'cube.mat'), mesh)
break
else:
sc = float(input('scale? '))
time.sleep(2)
else:
mesh = box.load_from_mat(ut.pjoin(seq, 'cube.mat'))
scan = dset.Scan(seq, use_cams_file=False)
print 'Already marked as bad:'
good_cams_file = os.path.join(scan.path, 'good_cams.txt')
if os.path.exists(good_cams_file):
inds = map(int, open(good_cams_file, 'r').read().split())
file_ids = map(scan.file_index, scan.im_files)
bad = sorted(set(file_ids) - set(inds))
print '\n'.join(map(str, bad))
if 1:
ig.show([[
scan.file_index(scan.im_files[frame]),
box.draw_faces(mesh, scan, frame, hires=0)
] for frame in xrange(scan.length)])
inp = input('Bad cameras (as string): ')
if inp != 'skip':
bad_cams = map(int, inp.split())
all_idx = map(scan.file_index, scan.im_files)
good_cams = sorted(set(all_idx) - set(bad_cams))
ut.write_lines(ut.pjoin(seq, 'good_cams.txt'), map(str, good_cams))