def main(sysargs):
args = EasyArgs(sysargs)
cfg = EasyConfig(args.config, group="chessboard_extract")
if "help" in args:
usage()
return 0
# test args
if len(args) <= 2:
usage()
return 1
# video settings, etc
window_name = "Chessboard Extractor"
side = Theta.resolve(args.split)
rotate = BuffSplitCap.r0
crop = (0, 0, 0, 0)
font = cv2.FONT_HERSHEY_SIMPLEX
# image stuff
image_path = os.path.join(args[2], args.prefix or 'frame_')
if not os.path.exists(args[2]):
os.makedirs(args[2])
cv2.namedWindow(window_name)
cap = BuffSplitCap(args[1],
side=side,
rotate=rotate,
crop=crop,
buff_max=cfg.buffer_size)
# loop video file
while cap.isOpened():
frame = cap.frame()
# display status
textframe = frame.copy()
displayText(textframe, cap.status(), top=True)
cv2.imshow(window_name, textframe)
# controls
key = cv2.waitKey(0)
if key == Key.right:
cap.next()
elif key == Key.left:
cap.back()
elif key == Key.enter:
print "Snapped at: ", cap.at()
cv2.imwrite("{}{:02d}.jpg".format(image_path, cap.at()), frame)
elif key == Key.esc:
print "Quitting."
break
# clean up
cap.release()
cv2.destroyAllWindows()
print "\nDone."
return 0
def main(sysargs):
# settings
args = EasyArgs(sysargs)
cfg = EasyConfig(args.config, group="trainer")
max_clicks = args.clicks or cfg.default_clicks
window_name = "EagleEye Trainer"
if "help" in args:
usage()
return 0
# grab marks from args
if len(args) > 5:
mark_in = args[4]
mark_out = args[5]
# test integer-ness
try:
int(mark_in) and int(mark_out)
except:
usage()
return 1
elif len(args) > 3:
ret, mark_in, mark_out = marker_tool(args[1], cfg.buffer_size,
window_name)
if not ret:
print "Not processing - exiting."
return 1
else:
usage()
return 1
## clicking time!
cropped_total = mark_out - mark_in
print "video cropped at:", mark_in, "to", mark_out, "- ({} frames)".format(
cropped_total)
# clicking function
def on_mouse(event, x, y, flags, params):
# left click to mark
if event == cv2.EVENT_LBUTTONDOWN:
params['pos'] = (x, y)
params['status'] = Status.record
# right click to skip
elif event == cv2.EVENT_RBUTTONDOWN:
params['status'] = Status.skip
# working variables
params = {'status': Status.wait, 'pos': None}
write_xml = False
textstatus = ""
dataQuality = 0 # 0 = good, >0 = bad/potentially bad
# default right side (buttonside)
if cfg.dual_mode:
lens = Theta.Right
trainer_points = {Theta.Right: {}, Theta.Left: {}}
else: # both sides otherwise
lens = Theta.Both
trainer_points = {Theta.Both: {}}
print "Minimum reflectors: {} | Ignore Negative xyz: {}".format(
cfg.min_reflectors, cfg.check_negatives)
# load video (again)
in_vid = BuffSplitCap(args[1],
crop=(0, 0, 0, 0),
rotate=BuffSplitCap.r0,
buff_max=cfg.buffer_size)
in_vid.restrict(mark_in, mark_out)
# load csv (with appropriate ratio)
in_csv = Memset(args[2])
in_csv.restrict()
in_csv.setRatio(cropped_total)
# test for marker data
if len(in_csv.row()) < 10:
print "This CSV contains no marker data!\nAborting."
return 1
# status
print ""
print "Writing to:", args[3]
print "Number of clicks at:", max_clicks
print ""
cv2.namedWindow(window_name)
cv2.setMouseCallback(window_name, on_mouse, params)
# grab clicks (Process 2)
while in_vid.isOpened():
frame = in_vid.frame(side=lens)
sys.stdout.write(in_vid.status() + " | Clicks {} / {}\r".format(
len(trainer_points[lens]), max_clicks))
sys.stdout.flush()
# prepare CSV data, click data
tx = float(in_csv.row()[2])
ty = float(in_csv.row()[3])
tz = float(in_csv.row()[4])
rx = float(in_csv.row()[5])
ry = float(in_csv.row()[6])
rz = float(in_csv.row()[7])
# data quality status
visible = int(in_csv.row()[9])
max_visible = int(in_csv.row()[8])
# status text to write
textrow = "VICON - x: {:.4f} y: {:.4f} z: {:.4f} | rx: {:.4f} ry: {:.4f} rz: {:.4f}".format(
tx, ty, tz, rx, ry, rz)
textquality = "Visible: {} , Max Visible: {}".format(
visible, max_visible)
textstatus = "{} | {}/{} clicks".format(in_vid.status(),
len(trainer_points[lens]),
max_clicks)
if lens == Theta.Left:
textstatus += " - back side"
elif lens == Theta.Right:
textstatus += " - button side"
#else none, no lens split
# if data is qualified bad, reduce timeout by one
if dataQuality > 0:
dataQuality -= 1
if dataQuality == 0:
dataStatus = " - Good data!!"
dataStatus_colour = (0, 255, 0) # green
else:
dataStatus = " - Potentially bad data (wait {})".format(
dataQuality)
dataStatus_colour = (0, 255, 255) # yellow
# Data tests
# values must be above 0 and minimum reflectors
if (cfg.check_negatives and (tx <= 0 or ty <= 0 or tz <= 0)) \
or visible < cfg.min_reflectors:
dataStatus = " - Bad data!!"
dataStatus_colour = (0, 0, 255) # red
if cfg.ignore_baddata:
dataStatus += " Ignored."
dataQuality = 1 + cfg.quality_delay
# draw the trainer dot (if applicable)
if in_vid.at() in trainer_points[lens]:
cv2.circle(frame, trainer_points[lens][in_vid.at()][0], 1,
cfg.dot_colour, 2)
cv2.circle(frame, trainer_points[lens][in_vid.at()][0], 15,
cfg.dot_colour, 1)
# draw text and show
displayText(frame, textrow, top=True)
displayText(frame, textquality)
displayText(frame, textstatus)
displayText(frame, dataStatus, endl=True, colour=dataStatus_colour)
cv2.imshow(window_name, frame)
# pause for input
while params['status'] == Status.wait:
key = cv2.waitKey(10)
if key == Key.esc:
params['status'] = Status.stop
elif key == Key.enter:
write_xml = True
params['status'] = Status.stop
elif key == Key.right:
params['status'] = Status.skip
elif key == Key.left:
params['status'] = Status.back
elif key == Key.backspace:
params['status'] = Status.remove
elif Key.char(key, '1') and cfg.dual_mode:
params['status'] = Status.still
lens = Theta.Left
elif Key.char(key, '2') and cfg.dual_mode:
params['status'] = Status.still
lens = Theta.Right
# catch exit status
if params['status'] == Status.stop:
print "\nprocess aborted!"
break
# write data
if params['status'] == Status.record \
and len(trainer_points[lens]) != max_clicks: # TODO: does this disable recording clicks on the last frame
if dataQuality == 0:
trainer_points[lens][in_vid.at()] = (params['pos'],
in_csv.row()[2:5],
in_csv.row()[8:10])
params['status'] = Status.skip
# or remove it
elif params['status'] == Status.remove \
and in_vid.at() in trainer_points[lens]:
del trainer_points[lens][in_vid.at()]
print "\nremoved dot"
# load next csv frame
if params['status'] == Status.skip:
if in_vid.next():
in_csv.next()
else:
write_xml = True
print "\nend of video: {}/{}".format(in_vid.at() - 1,
mark_out - 1)
break
# or load previous csv frame
elif params['status'] == Status.back:
if in_vid.back():
in_csv.back()
# reset status
params['status'] = Status.wait
# clean up
cv2.destroyAllWindows()
## write xml
if write_xml:
out_xml = XMLWriter(args[3])
out_xml.declaration()
doc = out_xml.start("TrainingSet")
# source information
out_xml.start("video", mark_in=str(mark_in), mark_out=str(mark_out))
out_xml.data(os.path.basename(args[1]))
out_xml.end()
out_xml.element("csv", os.path.basename(args[2]))
# training point data
for lens in trainer_points:
if lens == Theta.Right:
out_xml.start("buttonside",
points=str(len(trainer_points[lens])))
elif lens == Theta.Left:
out_xml.start("backside",
points=str(len(trainer_points[lens])))
else: # non dualmode
out_xml.start("frames", points=str(len(trainer_points[lens])))
for i in trainer_points[lens]:
pos, row, markers = trainer_points[lens][i]
x, y = pos
out_xml.start("frame", num=str(i))
out_xml.element("plane", x=str(x), y=str(y))
out_xml.element("vicon",
x=str(row[0]),
y=str(row[1]),
z=str(row[2]))
out_xml.element("visibility",
visibleMax=str(markers[0]),
visible=str(markers[1]))
out_xml.end()
out_xml.end() # frames
# clean up
out_xml.close(doc)
print "Data was written."
else:
print "No data was written"
print "\nDone."
return 0
def main(sysargs):
args = EasyArgs(sysargs)
cfg = EasyConfig(args.cfg, group="compare")
window_name = "EagleEye Comparator"
if "help" in args:
usage()
return 0
# grab marks from args
if len(args) > 5:
mark_in = args[4]
mark_out = args[5]
# test integer-ness
try:
int(mark_in) and int(mark_out)
except:
usage()
return 1
# or grab them from a marker tool
elif len(args) > 3:
ret, mark_in, mark_out = marker_tool(args[1], 50, window_name)
if not ret:
print "Not processing - exiting."
return 1
else:
usage()
return 1
# open video files
vid = BuffSplitCap(args[1], buff_max=cfg.buffer_size)
xml1 = Xmlset(args[2])
xml2 = Xmlset(args[3])
# trim the video
vid.restrict(mark_in, mark_out)
# trim the CSV
cropped_total = mark_out - mark_in
xml1.setRatio(cropped_total)
xml2.setRatio(cropped_total
) # should be 1.0 (total frames should be the same as video)
print 'xml1 ratio:', xml1.ratio()
print 'xml2 ratio:', xml2.ratio()
# open export (if specified)
if 'export' in args:
in_fps = vid.get(cv2.CAP_PROP_FPS)
in_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))
out_vid = cv2.VideoWriter(args.export,
cv2.VideoWriter_fourcc(*cfg.fourcc), in_fps,
in_size)
else:
cv2.namedWindow(window_name)
while vid.isOpened():
sys.stdout.write(vid.status() + "\r")
sys.stdout.flush()
frame = vid.frame()
# draw objects from each dataset
for name in xml1.data():
draw(frame, xml1.data()[name], cfg.xml1_colour)
for name in xml2.data():
draw(frame, xml2.data()[name], cfg.xml2_colour)
# print status to screen
displayText(frame, vid.status(), top=True)
displayText(frame,
"{}: {}".format(os.path.basename(args[2]), xml1.status()),
colour=cfg.xml1_colour)
displayText(frame,
"{}: {}".format(os.path.basename(args[3]), xml2.status()),
colour=cfg.xml2_colour)
# export or navigate
if 'export' in args:
sys.stdout.write("{}/{}\r".format(vid.at(), cropped_total))
sys.stdout.flush()
out_vid.write(frame)
if vid.next():
xml1.next()
xml2.next()
else:
print "\nend of video"
break
else:
cv2.imshow(window_name, frame)
key = cv2.waitKey(0)
# controls
if key == Key.esc:
print "\nexiting."
break
elif key == Key.right:
if vid.next():
xml1.next()
xml2.next()
elif key == Key.left:
if vid.back():
xml1.back()
xml2.back()
# clean up
vid.release()
if 'export' in args:
out_vid.release()
else:
cv2.destroyAllWindows()
return 0
def main(sysargs):
args = EasyArgs(sysargs)
cfg = EasyConfig(args.cfg, group="compare_trainer")
window_name = "EagleEye Comparator"
if "help" in args:
usage()
return 0
# grab marks from args
if len(args) > 5:
mark_in = args[4]
mark_out = args[5]
# test integer-ness
try:
int(mark_in) and int(mark_out)
except:
usage()
return 1
# or grab them from a marker tool
elif len(args) > 3:
ret, mark_in, mark_out = marker_tool(args[1], 50, window_name)
if not ret:
print "Not processing - exiting."
return 1
else:
usage()
return 1
# determine sides
side = Theta.resolve(args.side or 'buttonside')
# open inouts files
vid = BuffSplitCap(args[1], buff_max=cfg.buffer_size, side=Theta.Both)
mapper_xml = Xmlset(args[2],
offset=cfg.offset,
offmode=Xmlset.offset_mode(cfg.offset_mode))
trainer_xml = Xmltrainer(args[3], side=side)
reprojerror_list = {} # list of reprojection error of all frames
lastframe = False
# reject mapper_xml if it doesn't contain the trainer_target
if cfg.trainer_target not in mapper_xml.data(0):
print "Mapping file must contain training target:", cfg.trainer_target
print "Target names in mapping file:", mapper_xml.data(0)
print "Please specifiy correct target name in config"
return 1
# also reject if it's lens data doesn't match the trainer_xml
_test_lens = mapper_xml.data(0)[cfg.trainer_target]['lens']
if (_test_lens == Theta.NonDual and side != Theta.NonDual) \
or (side != Theta.NonDual and _test_lens == Theta.NonDual):
print "Mapping file doesn't match training file"
print "map:", Theta.name(_test_lens), "trainer:", Theta.name(side)
return 1
# sync the video and xml
vid.restrict(mark_in, mark_out)
cropped_total = mark_out - mark_in
mapper_xml.setRatio(cropped_total)
# status
print "ratio at:", mapper_xml.ratio()
print "offset by:", cfg.offset, "in", cfg.offset_mode, "mode"
print ""
# open export (if specified)
if args.video_export:
in_fps = vid.get(cv2.CAP_PROP_FPS)
in_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))
out_vid = cv2.VideoWriter(args.video_export,
cv2.VideoWriter_fourcc(*cfg.fourcc), in_fps,
vid.shape[:2])
print "exporting to:", args.video_export
else:
cv2.namedWindow(window_name)
print "interactive mode"
# main loop
while vid.isOpened():
frame = vid.frame()
reprojerror_list = compareReproj(frame, vid.at(), mapper_xml,
trainer_xml, reprojerror_list, cfg)
# export or navigate
if args.video_export:
sys.stdout.write("Reading Video Frame: {} / {}\r".format(
vid.at(), mark_out))
sys.stdout.flush()
out_vid.write(frame)
if vid.next():
reprojerror_list = compareReproj(frame, vid.at(), mapper_xml,
trainer_xml, reprojerror_list,
cfg)
mapper_xml.next()
else:
calReprojList(reprojerror_list)
print "\nend of video"
break
else:
cv2.imshow(window_name, frame)
key = cv2.waitKey(0)
showAll = False # toggle to show all training points in one frame
# controls
if key == Key.esc:
print "\nexiting."
break
elif key == Key.right:
if vid.next():
mapper_xml.next()
else:
if lastframe is False:
print "\nEnd of video"
calReprojList(reprojerror_list)
lastframe = True
elif key == Key.left:
if vid.back():
mapper_xml.back()
elif key == Key.enter:
while True:
reprojerror_list = compareReproj(frame, vid.at(),
mapper_xml, trainer_xml,
reprojerror_list, cfg)
cv2.imshow(window_name, frame)
if vid.next():
mapper_xml.next()
frame = vid.frame()
# break when over
else:
break
calReprojList(reprojerror_list)
print "\nFast forwarded to end of video"
if args.compare_export:
print "Output to file"
writeFile(args.compare_export, reprojerror_list)
break
elif key == Key.space:
''' TODO: display all training points, may be abandoned
problems:
frame is not refreshed after imshow
if showAll is False:
displayTrainPts(frame, mark_in, mark_out, trainer_xml, cfg)
#
#except:
# print "Error in displaying training points. Exiting..."
# return 1
#
showAll = True
else:
frame, reprojerror_list = compareReproj(frame, vid.at(), mapper_xml, trainer_xml, reprojerror_list, cfg)
showAll = False
'''
pass
# clean up
vid.release()
if args.video_export:
out_vid.release()
else:
cv2.destroyAllWindows()
return 0