def getProbabilityMax(segmentation): width = segmentation.shape[2] height = segmentation.shape[1] numPlanes = segmentation.shape[0] inds = np.argmax(segmentation.reshape([-1, height * width]), axis=0) probabilities = np.zeros((height * width, numPlanes)) probabilities[np.arange(height * width), inds] = 1 probabilities = probabilities.reshape([height, width, -1]) return probabilities
def drawSegmentationImage(segmentations,
randomColor=None,
numColors=22,
planeMask=1,
offset=1,
black=False):
randomColor = ColorPalette(numColors).getColorMap()
if black:
randomColor[0] = 0
pass
width = segmentations.shape[1]
height = segmentations.shape[0]
if segmentations.ndim == 2:
segmentation = (segmentations + offset) * planeMask
else:
#segmentation = (np.argmax(segmentations, 2) + 1) * (np.max(segmentations, 2) > 0.5)
if black:
segmentation = np.argmax(segmentations, 2)
else:
segmentation = (np.argmax(segmentations, 2) + 1) * planeMask
pass
pass
segmentation = segmentation.astype(np.int)
return randomColor[segmentation.reshape(-1)].reshape((height, width, 3))
randomColor[0] = 0 pass width = segmentations.shape[1] height = segmentations.shape[0] if segmentations.ndim == 2: segmentation = (segmentations + offset) * planeMask else: #segmentation = (np.argmax(segmentations, 2) + 1) * (np.max(segmentations, 2) > 0.5) if black: segmentation = np.argmax(segmentations, 2) else: segmentation = (np.argmax(segmentations, 2) + 1) * planeMask pass pass segmentation = segmentation.astype(np.int) return randomColor[segmentation.reshape(-1)].reshape((height, width, 3)) def drawMaskImage(mask): return (mask * 255).astype(np.uint8) def drawDiffImage(values_1, values_2, threshold): #return cv2.applyColorMap(np.clip(np.abs(values_1 - values_2) / threshold * 255, 0, 255).astype(np.uint8), cv2.COLORMAP_JET) return np.clip(np.abs(values_1 - values_2) / threshold * 255, 0, 255).astype(np.uint8) def getSuperpixels(depth, normal, width, height, numPlanes=50, numGlobalPlanes = 10): depth = np.expand_dims(depth, -1) urange = (np.arange(width, dtype=np.float32) / (width + 1) - 0.5) / focalLength * 641 urange = np.tile(np.reshape(urange, [1, -1]), [height, 1]) vrange = (np.arange(height, dtype=np.float32) / (height + 1) - 0.5) / focalLength * 481