def projectKeyframes(self, keyframes):
E0, E1 = self.E
for kf in progressinfo(keyframes.values()):
Pc = kf['pos']
# get 2 projected points on wall from this keyframe
projections = []
for pt in kf['points']:
if int(pt['level']) > 0:
continue
Pm = pt['pos']
Pp, props = self.projectPointToWall(Pc, Pm)
if not (props['forward_proj'] and props['on_wall']):
continue
# get indices on wallimg and kfimg
wallind = self.indicesFromLambdaZ(props['lambda_wall'], Pp[2])
kfind = pt['imgpos']
# get extra parameters that can serve as cost
projcost = abs(1 - props['lambda_line'])
angle = self.angleWithNormal(Pc, Pp)
if abs(angle) > np.pi / 2:
#print "warning: keyframe behind wall"
continue
projections.append([wallind, kfind, projcost, angle])
# get keyframe data
kfimg = Image.open(kf['img'])
kfimg = array(kfimg) # from Image to 2D array
# project keyframe on wall
self.projectKeyframe(kfimg, projections)
def createFillableArea(self):
M, N = self.MN
self.fillableArea = []
for i in progressinfo(range(M)):
for j in range(N):
self.fillableArea.append(array([i, j]))
self.fillableArea = array(self.fillableArea, dtype=np.int32)
def projectKeyframes(self, keyframes):
for kf in progressinfo(keyframes.values()):
Pc = kf['pos']
# get 2 projected points on floor from this keyframe
projections = []
for pt in kf['points']:
if int(pt['level']) > 0:
continue
Pm = pt['pos']
Pp, props = self.projectPointToFloor(Pc, Pm)
if not (props['forward_proj'] and props['between_walls']):
continue
floorind = self.indicesFromP(Pp)
kfind = pt['imgpos']
angle = self.angleWithNormal(Pc, Pp)
#assert abs(angle) < np.pi/2, "keyframe under floor"
projections.append(
[floorind, kfind,
abs(1 - props['lambda_line']), angle])
# get keyframe data
kfimg = Image.open(kf['img'])
kfimg = array(kfimg) # from Image to 2D array
# project keyframe on floor
self.projectKeyframe(kfimg, projections)
E = vstack((E1, E2))
margin = 4 * L.sigma
vals = E[:, 0]
xmin = vals.min() - margin
xmax = vals.max() + margin
vals = E[:, 1]
ymin = vals.min() - margin
ymax = vals.max() + margin
# XY vals
N = 30
X = arange(xmin, xmax, (xmax - xmin) / N)
Y = arange(ymin, ymax, (ymax - ymin) / N)
X, Y = meshgrid(X, Y)
Z = zeros(X.shape)
print "calculating probabilities..."
for row, (xrow, yrow) in enumerate(progressinfo(zip(X, Y))):
for col, (x, y) in enumerate(zip(xrow, yrow)):
Z[row, col] = L.Prob([x, y])
#cmap = cm.gray_r # black&white
cmap = cm.jet # color
surf = ax.plot_surface(X,
Y,
Z,
rstride=1,
cstride=1,
cmap=cmap,
linewidth=0,
antialiased=False)
# unknown
ax.w_zaxis.set_major_locator(LinearLocator(6))
# colorbar
def gridfill(X, Y, f):
Z = zeros(X.shape)
for row, (xrow, yrow) in enumerate(progressinfo(zip(X, Y))):
for col, (x,y) in enumerate(zip(xrow, yrow)):
Z[row, col] = f([x,y])
return Z*(xmax-xmin)
# 3D plot init
fig = plt.figure()
ax = fig.gca(projection='3d')
# lims
E = vstack((E1, E2))
margin = 4*L.sigma
vals = E[:,0]; xmin=vals.min()-margin; xmax=vals.max()+margin
vals = E[:,1]; ymin=vals.min()-margin; ymax=vals.max()+margin
# XY vals
N = 30
X = arange(xmin, xmax, (xmax-xmin)/N)
Y = arange(ymin, ymax, (ymax-ymin)/N)
X, Y = meshgrid(X, Y)
Z = zeros(X.shape)
print "calculating probabilities..."
for row, (xrow, yrow) in enumerate(progressinfo(zip(X, Y))):
for col, (x,y) in enumerate(zip(xrow, yrow)):
Z[row, col] = L.Prob([x,y])
#cmap = cm.gray_r # black&white
cmap = cm.jet # color
surf = ax.plot_surface(X, Y, Z, rstride=1, cstride=1, cmap=cmap, linewidth=0, antialiased=False)
# unknown
ax.w_zaxis.set_major_locator(LinearLocator(6))
# colorbar
#fig.colorbar(surf, shrink=0.5, aspect=5)
# set view
ax.view_init(elev=47, azim=-69)
xlabel('x (m)', fontsize=20)
ylabel('y (m)', fontsize=20)
fig.suptitle('Prob[(x,y)]', fontsize=30)
plt.show()
def create_fillable_area(walls, (M,N)):
### plot walls
#import pylab as pl
#for w in walls:
# x,y = pl.array(w).T
# pl.plot(x,y, '.-')
#pl.show()
### define polygon ###
poly = Poly(name='room', edges=[Edge(a=Pt(x=x1, y=y1), b=Pt(x=x2, y=y2)) for ((x1,y1),(x2,y2)) in walls])
### check if inside ###
fillableArea = []
for i in progressinfo(range(M)):
for j in range(N):
if ispointinside(Pt(i,j), poly):
fillableArea.append([i,j])
return np.array(fillableArea)
def point_inside_area(walls, (i,j)):
poly = Poly(name='room', edges=[Edge(a=Pt(x=x1, y=y1), b=Pt(x=x2, y=y2)) for ((x1,y1),(x2,y2)) in walls])
return ispointinside(Pt(i,j), poly)
def rayintersectseg(p, edge):
''' takes a point p=Pt() and an edge of two endpoints a,b=Pt() of a line segment returns boolean
'''
a,b = edge
if a.y > b.y:
a,b = b,a
