def py_determination_proc_c(n_cams, sorted_pos, sorted_corresp, corrected):
""" Returns 3d positions """
# Control parameters
cpar = ControlParams(n_cams)
cpar.read_control_par(b'parameters/ptv.par')
# Volume parameters
vpar = VolumeParams()
vpar.read_volume_par(b'parameters/criteria.par')
cals =[]
for i_cam in range(n_cams):
cal = Calibration()
tmp = cpar.get_cal_img_base_name(i_cam)
cal.from_file(tmp + b'.ori', tmp + b'.addpar')
cals.append(cal)
# Distinction between quad/trip irrelevant here.
sorted_pos = np.concatenate(sorted_pos, axis=1)
sorted_corresp = np.concatenate(sorted_corresp, axis=1)
flat = np.array([corrected[i].get_by_pnrs(sorted_corresp[i]) \
for i in range(len(cals))])
pos, rcm = point_positions(
flat.transpose(1,0,2), cpar, cals, vpar)
if len(cals) < 4:
print_corresp = -1*np.ones((4,sorted_corresp.shape[1]))
print_corresp[:len(cals),:] = sorted_corresp
else:
print_corresp = sorted_corresp
# Save rt_is in a temporary file
fname = b"".join([default_naming['corres'],b'.123456789']) # hard-coded frame number
with open(fname, 'w') as rt_is:
rt_is.write(str(pos.shape[0]) + '\n')
for pix, pt in enumerate(pos):
pt_args = (pix + 1,) + tuple(pt) + tuple(print_corresp[:,pix])
rt_is.write("%4d %9.3f %9.3f %9.3f %4d %4d %4d %4d\n" % pt_args)
def py_determination_proc_c(n_cams, sorted_pos, sorted_corresp, corrected):
""" Returns 3d positions """
# Control parameters
cpar = ControlParams(n_cams)
cpar.read_control_par('parameters/ptv.par')
# Volume parameters
vpar = VolumeParams()
vpar.read_volume_par('parameters/criteria.par')
cals = []
for i_cam in xrange(n_cams):
cal = Calibration()
tmp = cpar.get_cal_img_base_name(i_cam)
cal.from_file(tmp + '.ori', tmp + '.addpar')
cals.append(cal)
# Distinction between quad/trip irrelevant here.
sorted_pos = np.concatenate(sorted_pos, axis=1)
sorted_corresp = np.concatenate(sorted_corresp, axis=1)
flat = np.array([corrected[i].get_by_pnrs(sorted_corresp[i]) \
for i in xrange(len(cals))])
pos, rcm = point_positions(flat.transpose(1, 0, 2), cpar, cals, vpar)
if len(cals) == 1: # single camera case
sorted_corresp = np.tile(sorted_corresp, (4, 1))
sorted_corresp[1:, :] = -1
# Save rt_is in a temporary file
frame = 123456789 # just a temporary workaround. todo: think how to write
with open(default_naming['corres'] + '.' + str(frame), 'w') as rt_is:
rt_is.write(str(pos.shape[0]) + '\n')
for pix, pt in enumerate(pos):
pt_args = (pix + 1, ) + tuple(pt) + tuple(sorted_corresp[:, pix])
rt_is.write("%4d %9.3f %9.3f %9.3f %4d %4d %4d %4d\n" % pt_args)
def py_start_proc_c(n_cams):
""" Read parameters """
# Control parameters
cpar = ControlParams(n_cams)
cpar.read_control_par(b'parameters/ptv.par')
# Sequence parameters
spar = SequenceParams(num_cams=n_cams)
spar.read_sequence_par(b'parameters/sequence.par', n_cams)
# Volume parameters
vpar = VolumeParams()
vpar.read_volume_par(b'parameters/criteria.par')
# Tracking parameters
track_par = TrackingParams()
track_par.read_track_par(b'parameters/track.par')
# Target parameters
tpar = TargetParams(n_cams)
tpar.read(b'parameters/targ_rec.par')
# Examine parameters, multiplane (single plane vs combined calibration)
epar = par.ExamineParams()
epar.read()
# Calibration parameters
cals = []
for i_cam in range(n_cams):
cal = Calibration()
tmp = cpar.get_cal_img_base_name(i_cam)
cal.from_file(tmp + b'.ori', tmp + b'.addpar')
cals.append(cal)
return cpar, spar, vpar, track_par, tpar, cals, epar
class Test_ControlParams(unittest.TestCase):
def setUp(self):
self.input_control_par_file_name = "testing_fodder/control_parameters/control.par"
self.temp_output_directory = "testing_fodder/control_parameters/testing_output"
# create a temporary output directory (will be deleted by the end of test)
if not os.path.exists(self.temp_output_directory):
os.makedirs(self.temp_output_directory)
# create an instance of ControlParams class
self.cp_obj = ControlParams(4)
def test_read_control(self):
# Fill the ControlParams object with parameters from test file
self.cp_obj.read_control_par(self.input_control_par_file_name)
# check if all parameters are equal to the contents of test file
self.failUnless(self.cp_obj.get_img_base_name(0) == "dumbbell/cam1_Scene77_4085")
self.failUnless(self.cp_obj.get_img_base_name(1) == "dumbbell/cam2_Scene77_4085")
self.failUnless(self.cp_obj.get_img_base_name(2) == "dumbbell/cam3_Scene77_4085")
self.failUnless(self.cp_obj.get_img_base_name(3) == "dumbbell/cam4_Scene77_4085")
self.failUnless(self.cp_obj.get_cal_img_base_name(0) == "cal/cam1.tif")
self.failUnless(self.cp_obj.get_cal_img_base_name(1) == "cal/cam2.tif")
self.failUnless(self.cp_obj.get_cal_img_base_name(2) == "cal/cam3.tif")
self.failUnless(self.cp_obj.get_cal_img_base_name(3) == "cal/cam4.tif")
self.failUnless(self.cp_obj.get_num_cams() == 4)
self.failUnless(self.cp_obj.get_hp_flag())
self.failUnless(self.cp_obj.get_allCam_flag())
self.failUnless(self.cp_obj.get_tiff_flag())
self.failUnless(self.cp_obj.get_image_size(), (1280, 1024))
self.failUnless(self.cp_obj.get_pixel_size() == (15.15,16.16))
self.failUnless(self.cp_obj.get_chfield() == 17)
self.failUnless(self.cp_obj.get_multimedia_params().get_n1() == 18)
self.failUnless(self.cp_obj.get_multimedia_params().get_n2()[0] == 19.19)
self.failUnless(self.cp_obj.get_multimedia_params().get_n3() == 20.20)
self.failUnless(self.cp_obj.get_multimedia_params().get_d()[0] == 21.21)
def test_instantiate_fast(self):
"""ControlParams instantiation through constructor"""
cp = ControlParams(4, ['headers', 'hp', 'allcam'], (1280, 1024),
(15.15,16.16), 18, [19.19], [21.21], 20.20)
self.failUnless(cp.get_num_cams() == 4)
self.failUnless(cp.get_hp_flag())
self.failUnless(cp.get_allCam_flag())
self.failUnless(cp.get_tiff_flag())
self.failUnless(cp.get_image_size(), (1280, 1024))
self.failUnless(cp.get_pixel_size() == (15.15,16.16))
self.failUnless(cp.get_chfield() == 0)
mm = cp.get_multimedia_params()
self.failUnless(mm.get_n1() == 18)
self.failUnless(mm.get_n2()[0] == 19.19)
self.failUnless(mm.get_n3() == 20.20)
self.failUnless(mm.get_d()[0] == 21.21)
def test_getters_setters(self):
cams_num = 4
for cam in range(cams_num):
new_str = str(cam) + "some string" + str(cam)
self.cp_obj.set_img_base_name(cam, new_str)
self.failUnless(self.cp_obj.get_img_base_name(cam) == new_str)
self.cp_obj.set_cal_img_base_name(cam, new_str)
self.failUnless(self.cp_obj.get_cal_img_base_name(cam) == new_str)
self.cp_obj.set_hp_flag(True)
self.failUnless(self.cp_obj.get_hp_flag())
self.cp_obj.set_hp_flag(False)
self.failUnless(not self.cp_obj.get_hp_flag())
self.cp_obj.set_allCam_flag(True)
self.failUnless(self.cp_obj.get_allCam_flag())
self.cp_obj.set_allCam_flag(False)
self.failUnless(not self.cp_obj.get_allCam_flag())
self.cp_obj.set_tiff_flag(True)
self.failUnless(self.cp_obj.get_tiff_flag())
self.cp_obj.set_tiff_flag(False)
self.failUnless(not self.cp_obj.get_tiff_flag())
self.cp_obj.set_image_size((4, 5))
self.failUnless(self.cp_obj.get_image_size()== (4, 5))
print self.cp_obj.get_pixel_size()
self.cp_obj.set_pixel_size((6.1, 7.0))
numpy.testing.assert_array_equal(self.cp_obj.get_pixel_size(), (6.1, 7))
self.cp_obj.set_chfield(8)
self.failUnless(self.cp_obj.get_chfield() == 8)
# testing __richcmp__ comparison method of ControlParams class
def test_rich_compare(self):
self.cp_obj2 = ControlParams(4)
self.cp_obj2.read_control_par(self.input_control_par_file_name)
self.cp_obj3 = ControlParams(4)
self.cp_obj3.read_control_par(self.input_control_par_file_name)
self.failUnless(self.cp_obj2 == self.cp_obj3)
self.failIf(self.cp_obj2 != self.cp_obj3)
self.cp_obj2.set_hp_flag(False)
self.failUnless(self.cp_obj2 != self.cp_obj3)
self.failIf(self.cp_obj2 == self.cp_obj3)
with self.assertRaises(TypeError):
var = (self.cp_obj2 > self.cp_obj3) # unhandled operator >
def tearDown(self):
# remove the testing output directory and its files
shutil.rmtree(self.temp_output_directory)
def run_batch(new_seq_first, new_seq_last):
""" this file runs inside exp_path, so the other names are
prescribed by the OpenPTV type of a folder:
/parameters
/img
/cal
/res
"""
# read the number of cameras
with open('parameters/ptv.par', 'r') as f:
n_cams = int(f.readline())
# Control parameters
cpar = ControlParams(n_cams)
cpar.read_control_par(b'parameters/ptv.par')
# Sequence parameters
spar = SequenceParams(num_cams=n_cams)
spar.read_sequence_par(b'parameters/sequence.par', n_cams)
spar.set_first(new_seq_first)
spar.set_last(new_seq_last)
# Volume parameters
vpar = VolumeParams()
vpar.read_volume_par(b'parameters/criteria.par')
# Tracking parameters
track_par = TrackingParams()
track_par.read_track_par(b'parameters/track.par')
# Target parameters
tpar = TargetParams()
tpar.read(b'parameters/targ_rec.par')
#
# Calibration parameters
cals = []
for i_cam in range(n_cams):
cal = Calibration()
tmp = cpar.get_cal_img_base_name(i_cam)
cal.from_file(tmp + b'.ori', tmp + b'.addpar')
cals.append(cal)
# sequence loop for all frames
for frame in range(new_seq_first, new_seq_last + 1):
print("processing frame %d" % frame)
detections = []
corrected = []
for i_cam in range(n_cams):
imname = spar.get_img_base_name(i_cam) + str(frame)
img = imread(imname)
hp = simple_highpass(img, cpar)
targs = target_recognition(hp, tpar, i_cam, cpar)
print(targs)
targs.sort_y()
detections.append(targs)
mc = MatchedCoords(targs, cpar, cals[i_cam])
pos, pnr = mc.as_arrays()
print(i_cam)
corrected.append(mc)
# if any([len(det) == 0 for det in detections]):
# return False
# Corresp. + positions.
sorted_pos, sorted_corresp, num_targs = correspondences(
detections, corrected, cals, vpar, cpar)
# Save targets only after they've been modified:
for i_cam in xrange(n_cams):
detections[i_cam].write(spar.get_img_base_name(i_cam), frame)
print("Frame " + str(frame) + " had " \
+ repr([s.shape[1] for s in sorted_pos]) + " correspondences.")
# Distinction between quad/trip irrelevant here.
sorted_pos = np.concatenate(sorted_pos, axis=1)
sorted_corresp = np.concatenate(sorted_corresp, axis=1)
flat = np.array([corrected[i].get_by_pnrs(sorted_corresp[i]) \
for i in xrange(len(cals))])
pos, rcm = point_positions(flat.transpose(1, 0, 2), cpar, cals, vpar)
if len(cals) < 4:
print_corresp = -1 * np.ones((4, sorted_corresp.shape[1]))
print_corresp[:len(cals), :] = sorted_corresp
else:
print_corresp = sorted_corresp
# Save rt_is
rt_is = open(default_naming['corres'] + '.' + str(frame), 'w')
rt_is.write(str(pos.shape[0]) + '\n')
for pix, pt in enumerate(pos):
pt_args = (pix + 1, ) + tuple(pt) + tuple(print_corresp[:, pix])
rt_is.write("%4d %9.3f %9.3f %9.3f %4d %4d %4d %4d\n" % pt_args)
rt_is.close()
# end of a sequence loop
tracker = Tracker(cpar, vpar, track_par, spar, cals, default_naming)
tracker.full_forward()
class Test_ControlParams(unittest.TestCase):
def setUp(self):
self.input_control_par_file_name = "testing_fodder/control_parameters/control.par"
self.temp_output_directory = "testing_fodder/control_parameters/testing_output"
# create a temporary output directory (will be deleted by the end of test)
if not os.path.exists(self.temp_output_directory):
os.makedirs(self.temp_output_directory)
# create an instance of ControlParams class
self.cp_obj = ControlParams(4)
def test_read_control(self):
# Fill the ControlParams object with parameters from test file
self.cp_obj.read_control_par(self.input_control_par_file_name)
# check if all parameters are equal to the contents of test file
self.failUnless(self.cp_obj.get_img_base_name(0) == "dumbbell/cam1_Scene77_4085")
self.failUnless(self.cp_obj.get_img_base_name(1) == "dumbbell/cam2_Scene77_4085")
self.failUnless(self.cp_obj.get_img_base_name(2) == "dumbbell/cam3_Scene77_4085")
self.failUnless(self.cp_obj.get_img_base_name(3) == "dumbbell/cam4_Scene77_4085")
self.failUnless(self.cp_obj.get_cal_img_base_name(0) == "cal/cam1.tif")
self.failUnless(self.cp_obj.get_cal_img_base_name(1) == "cal/cam2.tif")
self.failUnless(self.cp_obj.get_cal_img_base_name(2) == "cal/cam3.tif")
self.failUnless(self.cp_obj.get_cal_img_base_name(3) == "cal/cam4.tif")
self.failUnless(self.cp_obj.get_num_cams() == 4)
self.failUnless(self.cp_obj.get_hp_flag())
self.failUnless(self.cp_obj.get_allCam_flag())
self.failUnless(self.cp_obj.get_tiff_flag())
self.failUnless(self.cp_obj.get_image_size(), (1280, 1024))
self.failUnless(self.cp_obj.get_pixel_size() == (15.15,16.16))
self.failUnless(self.cp_obj.get_chfield() == 17)
self.failUnless(self.cp_obj.get_multimedia_params().get_n1() == 18)
self.failUnless(self.cp_obj.get_multimedia_params().get_n2()[0] == 19.19)
self.failUnless(self.cp_obj.get_multimedia_params().get_n3() == 20.20)
self.failUnless(self.cp_obj.get_multimedia_params().get_d()[0] == 21.21)
def test_instantiate_fast(self):
"""ControlParams instantiation through constructor"""
cp = ControlParams(4, ['headers', 'hp', 'allcam'], (1280, 1024),
(15.15,16.16), 18, [19.19], [21.21], 20.20)
self.failUnless(cp.get_num_cams() == 4)
self.failUnless(cp.get_hp_flag())
self.failUnless(cp.get_allCam_flag())
self.failUnless(cp.get_tiff_flag())
self.failUnless(cp.get_image_size(), (1280, 1024))
self.failUnless(cp.get_pixel_size() == (15.15,16.16))
self.failUnless(cp.get_chfield() == 0)
mm = cp.get_multimedia_params()
self.failUnless(mm.get_n1() == 18)
self.failUnless(mm.get_n2()[0] == 19.19)
self.failUnless(mm.get_n3() == 20.20)
self.failUnless(mm.get_d()[0] == 21.21)
def test_getters_setters(self):
cams_num = 4
for cam in range(cams_num):
new_str = str(cam) + "some string" + str(cam)
self.cp_obj.set_img_base_name(cam, new_str)
self.failUnless(self.cp_obj.get_img_base_name(cam) == new_str)
self.cp_obj.set_cal_img_base_name(cam, new_str)
self.failUnless(self.cp_obj.get_cal_img_base_name(cam) == new_str)
self.cp_obj.set_hp_flag(True)
self.failUnless(self.cp_obj.get_hp_flag())
self.cp_obj.set_hp_flag(False)
self.failUnless(not self.cp_obj.get_hp_flag())
self.cp_obj.set_allCam_flag(True)
self.failUnless(self.cp_obj.get_allCam_flag())
self.cp_obj.set_allCam_flag(False)
self.failUnless(not self.cp_obj.get_allCam_flag())
self.cp_obj.set_tiff_flag(True)
self.failUnless(self.cp_obj.get_tiff_flag())
self.cp_obj.set_tiff_flag(False)
self.failUnless(not self.cp_obj.get_tiff_flag())
self.cp_obj.set_image_size((4, 5))
self.failUnless(self.cp_obj.get_image_size()== (4, 5))
print self.cp_obj.get_pixel_size()
self.cp_obj.set_pixel_size((6.1, 7.0))
numpy.testing.assert_array_equal(self.cp_obj.get_pixel_size(), (6.1, 7))
self.cp_obj.set_chfield(8)
self.failUnless(self.cp_obj.get_chfield() == 8)
# testing __richcmp__ comparison method of ControlParams class
def test_rich_compare(self):
self.cp_obj2 = ControlParams(4)
self.cp_obj2.read_control_par(self.input_control_par_file_name)
self.cp_obj3 = ControlParams(4)
self.cp_obj3.read_control_par(self.input_control_par_file_name)
self.failUnless(self.cp_obj2 == self.cp_obj3)
self.failIf(self.cp_obj2 != self.cp_obj3)
self.cp_obj2.set_hp_flag(False)
self.failUnless(self.cp_obj2 != self.cp_obj3)
self.failIf(self.cp_obj2 == self.cp_obj3)
with self.assertRaises(TypeError):
var = (self.cp_obj2 > self.cp_obj3) # unhandled operator >
def tearDown(self):
# remove the testing output directory and its files
shutil.rmtree(self.temp_output_directory)
