def mouseHandler(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONUP:
if self.markings == None:
self.markings = np.array([x, y])[np.newaxis]
else:
self.markings = np.vstack([self.markings, [x, y]])
pix = np.array([x, y, 1])
mk1_t = mk2_to_mk1(self.t, self.gps_times_mk1, self.gps_times_mk2)
xform = self.imu_transforms_mk1[mk1_t]
v = self.back_projector.calculateBackProjection(xform, pix)
l0 = self.back_projector.calculateBackProjection(xform)
l = l0 - v
best_model = (np.inf, 0, 0)
for i, plane in enumerate(self.planes):
pt = self.back_projector.calculateIntersection(l0, l, plane)
d = np.linalg.norm(pt - plane[3:])
if d < best_model[0]:
best_model = (d, i, pt)
print best_model[-1]
if self.lanes == None:
self.lanes = best_model[-1]
else:
self.lanes = np.vstack((self.lanes, best_model[-1]))
def mouseHandler(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONUP:
if self.markings == None:
self.markings = np.array([x, y])[np.newaxis]
else:
self.markings = np.vstack([self.markings, [x, y]])
pix = np.array([x, y, 1])
mk1_t = mk2_to_mk1(self.t, self.gps_times_mk1, self.gps_times_mk2)
xform = self.imu_transforms_mk1[mk1_t]
v = self.back_projector.calculateBackProjection(xform, pix)
l0 = self.back_projector.calculateBackProjection(xform)
l = l0 - v
best_model = (np.inf, 0, 0)
for i, plane in enumerate(self.planes):
pt = self.back_projector.calculateIntersection(l0, l,
plane)
d = np.linalg.norm(pt - plane[3:])
if d < best_model[0]:
best_model = (d, i, pt)
print best_model[-1]
if self.lanes == None:
self.lanes = best_model[-1]
else:
self.lanes = np.vstack((self.lanes, best_model[-1]))
run = remote_run.split('/')[-2]
driverseat_run = driverseat_folder + run + '/'
imu_transforms, gps_times_mk1 = get_transforms(
remote_run, run, 'mark1')
_, gps_times_mk2 = get_transforms(remote_run, run, 'mark2')
print driverseat_run
json_name = 'gps.json'
json_gps_name = driverseat_run + json_name
zip_gps_name = json_gps_name + '.zip'
if not os.path.isfile(json_gps_name):
print '\tExporting ' + json_name
gps_data = []
for i in xrange(0, gps_times_mk2.shape[0], sub_samp):
mk1_i = mk2_to_mk1(i, gps_times_mk1, gps_times_mk2)
imu_xform = imu_transforms[mk1_i, :, :]
gps_data.append(imu_xform.tolist())
with open(json_gps_name, 'w') as json_gps_file:
json.dump(gps_data, json_gps_file)
if not os.path.isfile(zip_gps_name):
print '\tZipping...'
data = '\n'.join(
[x for x in open(json_gps_name, 'r').readlines()])
json_zip = ZipFile(zip_gps_name, 'w', ZIP_DEFLATED)
json_zip.writestr(json_name, data)
json_zip.close()
configurator.set('gps_json', True)
def mk2_to_mk1(self, mk2_idx=-1):
if mk2_idx == -1:
mk2_idx = self.mk2_t
return mk2_to_mk1(mk2_idx, self.gps_times_mk1, self.gps_times_mk2)
def mk2_to_mk1(self, mk2_idx=-1):
if mk2_idx == -1:
mk2_idx = self.mk2_t
return mk2_to_mk1(mk2_idx, self.gps_times_mk1, self.gps_times_mk2)
run = remote_run.split('/')[-2]
driverseat_run = driverseat_folder + run + '/'
imu_transforms, gps_times_mk1 = get_transforms(remote_run,
run, 'mark1')
_, gps_times_mk2 = get_transforms(remote_run, run, 'mark2')
print driverseat_run
json_name = 'gps.json'
json_gps_name = driverseat_run + json_name
zip_gps_name = json_gps_name + '.zip'
if not os.path.isfile(json_gps_name):
print '\tExporting ' + json_name
gps_data = []
for i in xrange(0, gps_times_mk2.shape[0], sub_samp):
mk1_i = mk2_to_mk1(i, gps_times_mk1, gps_times_mk2)
imu_xform = imu_transforms[mk1_i, :, :]
gps_data.append(imu_xform.tolist())
with open(json_gps_name, 'w') as json_gps_file:
json.dump(gps_data, json_gps_file)
if not os.path.isfile(zip_gps_name):
print '\tZipping...'
data = '\n'.join([x for x in open(json_gps_name,
'r').readlines()])
json_zip = ZipFile(zip_gps_name, 'w', ZIP_DEFLATED)
json_zip.writestr(json_name, data)
json_zip.close()
configurator.set('gps_json', True)