def intWriter(path, camMat, distCoe, calibError={}):
try:
print 'Generating Intrinsic Parameters to:', path, '...'
with open(path, 'w') as int_xml:
w = XMLWriter(int_xml)
w.declaration()
# Camera Intrinsic (Root)
root = w.start('StdIntrinsic')
# Camera Matrix
w.element('CamMat',
fx=str(camMat[0][0]), fy=str(camMat[1][1]),
cx=str(camMat[0][2]), cy=str(camMat[1][2]))
# Distortion Coefficients
if (len(distCoe[0]) == 8): # 8 coefficients Rational Model, k4 k5 k6 enabled
w.element('DistCoe', k1=str(distCoe[0][0]), k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]), p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]), k4=str(distCoe[0][5]),
k5=str(distCoe[0][6]), k6=str(distCoe[0][7]))
elif (len(distCoe[0]) == 12): # 12 coefficients Prism Model, c1, c2, c3, c4 enabled, new in OpenCV 3.0.0
w.element('DistCoe', k1=str(distCoe[0][0]), k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]), p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]), k4=str(distCoe[0][5]),
k5=str(distCoe[0][6]), k6=str(distCoe[0][7]),
c1=str(distCoe[0][8]), c2=str(distCoe[0][9]),
c3=str(distCoe[0][10]),c4=str(distCoe[0][11]))
else:
w.element('DistCoe', k1=str(distCoe[0][0]), k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]), p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]))
# Error values
if len(calibError) > 0:
w.element('Error', rms=str(calibError['rms']), total=str(calibError['tot_err']), arth=str(calibError['arth_err']))
w.close(root)
print 'Intrinsic calibration has been generated successfully.'
except Exception as e:
print 'ERROR: occurred in writing intrinsic XML file.'
raise e # keep it bubbling up, to catch in main()
def writeXML(frames, path, args):
out_xml = XMLWriter(path)
out_xml.declaration()
doc = out_xml.start("AnnotationEvaluation")
# source information
out_xml.element("video", mark_in=str(args[4]), mark_out=str(args[5]))
out_xml.element("mapper", os.path.basename(args[1]))
out_xml.element("annotation", os.path.basename(args[2]))
out_xml.element("comparison", mean_err=str(calMean(frames)))
# compared points
out_xml.start("frames", total=str((args[5]-1) - (args[4]+1)+1), compared=str(len(frames)))
for f in frames.keys():
out_xml.start("frame", num=str(f))
for key in frames[f]:
out_xml.start("object", lens=Theta.name(frames[f][key]["lens"]), name=key, err=str(frames[f][key]["err"]))
out_xml.element("annotatedCentroid", x=str(frames[f][key]["ann_x"]), y=str(frames[f][key]["ann_y"]))
out_xml.element("mappedCentroid", x=str(frames[f][key]["map_x"]), y=str(frames[f][key]["map_y"]))
out_xml.end() # object
out_xml.end() # frames
# clean up
out_xml.close(doc)
def main(sysargs):
args = EasyArgs(sysargs)
cfg = EasyConfig(args.config, group="mapper")
if "help" in args:
usage()
return 0
if ["calib", "trainer", "output"] not in args:
print "Must specify: -calib, -trainer, -output files"
usage()
return 1
if len(args) == 1:
print "Not enough input CSV files"
usage()
return 1
if len(args) > 2 and args.map_trainer_mode:
print "Too many CSV for trainer-mapping mode"
usage()
return 1
if "force_side" in args:
side = Theta.resolve(args.force_side)
if side == Theta.NonDual:
print "Invalid force_side argument:", args.force_side
usage()
return 1
# set side overrides
force_button = (side == Theta.Buttonside)
force_back = not force_button
else:
force_button = force_back = False
# working vars
csvs = {}
frame_num = 0
# open source CSV datasets
for i in range(1, len(args)):
print args[i]
csvs[i] = Memset(args[i])
# reel all the files up to their first flash
for i in csvs:
csvs[i].restrict()
if len(csvs[i].row()) < 10:
print "CSV file:", args[i], "contains no marker data!\nAborting."
return 1
# override csv name
if args.map_trainer_mode:
csvs[1]._name = cfg.trainer_target
# open calib files
try:
buttonside = Mapper(args.calib, args.trainer, cfg, Theta.Buttonside)
backside = Mapper(args.calib, args.trainer, cfg, Theta.Backside)
except Exception as e:
print e.message
return 1
count = {'bts': 0, 'bks': 0, 'rej': 0}
# open destination XML
with open(args.output, "w") as xmlfile:
w = XMLWriter(xmlfile)
w.declaration()
xmlfile.write(
"<!DOCTYPE dataset SYSTEM \"http://storage.gwillz.com.au/eagleeye_v2.dtd\">"
)
doc = w.start("dataset")
# iterates until all vicon csvs reach eof
while True:
w.start("frameInformation")
w.element("frame", number=str(frame_num))
#iterates through each vicon csv at the current row
for i in csvs:
c = csvs[i]
# determine marker quality
try:
max_reflectors = int(c.row()[8])
visible_reflectors = int(c.row()[9])
except:
print "Error in reading quality at row {}".format(i)
return 1
try:
# read VICON data
x = float(c.row()[2])
y = float(c.row()[3])
z = float(c.row()[4])
# TODO: is this necessary? We never use the object's rotation
rx = float(c.row()[5])
ry = float(c.row()[6])
rz = float(c.row()[7])
except:
print "Error occurred when converting VICON data at row {}".format(
i)
return 1
# run projection/mapping on VICON data
if backside.isVisible((x, y, z)):
points = backside.reprojpts((x, y, z))
side = 'backside'
count['bks'] += 1
elif buttonside.isVisible((x, y, z)):
points = buttonside.reprojpts((x, y, z))
points[
0] += 960 # add 960 to x for rightside points (Ricoh video is both frames side by side)
side = 'buttonside'
count['bts'] += 1
# TODO don't write non visible dots?
else:
points = [0., 0.]
count['rej'] += 1
# TODO: Change DTD and double check with Manjung
w.start("object",
id=str(i),
name=c.name(),
lens=Theta.name(side))
w.element("boxinfo",
height="99",
width="99",
x=str(points[0] - 50),
y=str(points[1] - 50))
w.element("centroid",
x=str(points[0]),
y=str(points[1]),
rx=str(rx),
ry=str(ry),
rz=str(rz))
w.element("visibility",
visible=str(visible_reflectors),
visibleMax=str(max_reflectors))
w.end()
w.end()
# test end of files
eofs = 0
for i in csvs:
if csvs[i].eof(): eofs += 1
if len(csvs) == eofs:
print "end of all datasets"
break
# load next vicon frame
frame_num += 1
for i in csvs:
csvs[i].next()
w.close(doc)
print "\nbuttonside", count['bts']
print "backside", count['bks']
print "rejected", count['rej']
return 0
def intWriter(path, buttonside=None, backside=None):
try:
status = ""
print 'Generating Intrinsic Parameters to:', path, '...'
with open(path, 'w') as int_xml:
w = XMLWriter(int_xml)
w.declaration()
# Camera Intrinsic (Root)
root = w.start('dual_intrinsic')
num_sides = range(0, 2)
#num_sides = range(0, 1) if buttonside is None or backside is None else range(0, 2)
for i in num_sides:
w.start("Buttonside" if i == 0 else "Backside")
if i == 0 and buttonside[0].size > 0 and buttonside[1].size > 0:
status += 'Buttonside'
camMat = buttonside[0]
distCoe = buttonside[1]
calibError = buttonside[2]
elif i == 1 and backside[0].size > 0 and backside[1].size > 0:
if status == "": status += 'Backside'
else: status += ' & Backside'
camMat = backside[0]
distCoe = backside[1]
calibError = backside[2]
else:
w.end()
continue
# Camera Matrix
w.element('CamMat',
fx=str(camMat[0][0]), fy=str(camMat[1][1]),
cx=str(camMat[0][2]), cy=str(camMat[1][2]))
# Distortion Coefficients
if (len(distCoe[0]) == 8): # 8 coefficients Rational Model, k4 k5 k6 enabled
w.element('DistCoe',
k1=str(distCoe[0][0]), k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]), p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]), k4=str(distCoe[0][5]),
k5=str(distCoe[0][6]), k6=str(distCoe[0][7]))
elif (len(distCoe[0]) == 12): # 12 coefficients Prism Model, c1, c2, c3, c4 enabled, new in OpenCV 3.0.0
w.element('DistCoe',
k1=str(distCoe[0][0]), k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]), p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]), k4=str(distCoe[0][5]),
k5=str(distCoe[0][6]), k6=str(distCoe[0][7]),
c1=str(distCoe[0][8]), c2=str(distCoe[0][9]),
c3=str(distCoe[0][10]),c4=str(distCoe[0][11]))
else:
w.element('DistCoe',
k1=str(distCoe[0][0]), k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]), p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]))
# Error values
if len(calibError) > 0:
w.element('Error',
rms=str(calibError['rms']),
total=str(calibError['tot_err']),
arth=str(calibError['arth_err']))
w.end() #buttonside/backside
w.close(root)
print status, 'Intrinsic calibration has been generated successfully.'
except Exception as e:
# keep it bubbling up, to catch in main()
raise Exception("{}: {}\n'ERROR: occurred in writing intrinsic XML file.'".format(type(e), e.message))
#Write datastreams manifest to XML
#example datastream chunk
'''
<foxml:datastream CONTROL_GROUP="M" ID="ORIGINAL" STATE="A">
<foxml:datastreamVersion ID="ORIGINAL.0" MIMETYPE="image/jpeg" LABEL="Page#">
<foxml:contentLocation TYPE="URL">
<xsl:attribute name="REF">http://image.url/Sketches_and_scraps0000#.jpg</xsl:attribute>
</foxml:contentLocation>
</foxml:datastreamVersion>
</foxml:datastream>
'''
fhand = item_path + "/" + item_ID + "_FOXML.xml"
w = XMLWriter(fhand, encoding="utf-8")
w.declaration()
#namespace dictionary
namespace={}
namespace['xmlns:foxml'] = "info:fedora/fedora-system:def/foxml#"
namespace['xmlns:xsi']="http://www.w3.org/2001/XMLSchema-instance"
manifest = w.start("ebook_item", namespace)
# iterate through parent collections and create <collection> elements for each
for collection_name in collections:
w.element("collection", Template("$collection_name").substitute(collection_name=collection_name))
w.element("PID_prefix", Template("$PID_prefix").substitute(PID_prefix=PID_prefix))
w.element("book_title", Template("$item_ID").substitute(item_ID=item_ID))
w.element("item_ID", Template("$item_ID").substitute(item_ID=item_ID))
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
correction = ' '.join(nltk.word_tokenize(correction))
required = tokens[3]
annotator = int(tokens[5])
annotators[s].add(annotator)
if c_start == -1 and c_end == -1 and etype.lower() == "noop":
# Noop --> empty set of edits (source is right)
pass
else:
ref_annot[s].append([c_start, c_end, etype, correction, annotator])
f_in.close()
# Create the output XML
if not out_file:
out_file = in_file + ".ieval.xml"
f_out = XMLWriter(out_file, "UTF-8")
f_out.declaration()
f_out.start("scripts")
f_out.start("script", id="1") # Assume only one script
# Do clustering
for s in xrange(len(ref_annot)):
sys.stdout.write("\rSentence %s..." % (s+1))
sys.stdout.flush()
clusters = []
# Sort edits from longest to shortest range
ref_annot[s].sort(key=lambda x: x[0] - x[1])
for e in ref_annot[s]: # Go through each edit
merge = False
for c in clusters:
if cluster_has_overlap(c, e):
def intWriter(path, camMat, distCoe, calibError={}):
try:
print 'Generating Intrinsic Parameters to:', path, '...'
with open(path, 'w') as int_xml:
w = XMLWriter(int_xml)
w.declaration()
# Camera Intrinsic (Root)
root = w.start('StdIntrinsic')
# Camera Matrix
w.element('CamMat',
fx=str(camMat[0][0]),
fy=str(camMat[1][1]),
cx=str(camMat[0][2]),
cy=str(camMat[1][2]))
# Distortion Coefficients
if (len(distCoe[0]) == 8
): # 8 coefficients Rational Model, k4 k5 k6 enabled
w.element('DistCoe',
k1=str(distCoe[0][0]),
k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]),
p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]),
k4=str(distCoe[0][5]),
k5=str(distCoe[0][6]),
k6=str(distCoe[0][7]))
elif (
len(distCoe[0]) == 12
): # 12 coefficients Prism Model, c1, c2, c3, c4 enabled, new in OpenCV 3.0.0
w.element('DistCoe',
k1=str(distCoe[0][0]),
k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]),
p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]),
k4=str(distCoe[0][5]),
k5=str(distCoe[0][6]),
k6=str(distCoe[0][7]),
c1=str(distCoe[0][8]),
c2=str(distCoe[0][9]),
c3=str(distCoe[0][10]),
c4=str(distCoe[0][11]))
else:
w.element('DistCoe',
k1=str(distCoe[0][0]),
k2=str(distCoe[0][1]),
p1=str(distCoe[0][2]),
p2=str(distCoe[0][3]),
k3=str(distCoe[0][4]))
# Error values
if len(calibError) > 0:
w.element('Error',
rms=str(calibError['rms']),
total=str(calibError['tot_err']),
arth=str(calibError['arth_err']))
w.close(root)
print 'Intrinsic calibration has been generated successfully.'
except Exception as e:
print 'ERROR: occurred in writing intrinsic XML file.'
raise e # keep it bubbling up, to catch in main()
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.config, group="mapper")
if "help" in args:
usage()
return 0
if ["calib", "trainer", "output"] not in args:
print "Must specify: -calib, -trainer, -output files"
usage()
return 1
if len(args) == 1:
print "Not enough input CSV files"
usage()
return 1
if len(args) > 2 and args.map_trainer_mode:
print "Too many CSV for trainer-mapping mode"
usage()
return 1
if "force_side" in args:
side = Theta.resolve(args.force_side)
if side == Theta.NonDual:
print "Invalid force_side argument:", args.force_side
usage()
return 1
# set side overrides
force_button = (side == Theta.Buttonside)
force_back = not force_button
else:
force_button = force_back = False
# working vars
csvs = {}
frame_num = 0
# open source CSV datasets
for i in range(1, len(args)):
print args[i]
csvs[i] = Memset(args[i])
# reel all the files up to their first flash
for i in csvs:
csvs[i].restrict()
if len(csvs[i].row()) < 10:
print "CSV file:", args[i], "contains no marker data!\nAborting."
return 1
# override csv name
if args.map_trainer_mode:
csvs[1]._name = cfg.trainer_target
# open calib files
try:
buttonside = Mapper(args.calib, args.trainer, cfg, Theta.Buttonside)
backside = Mapper(args.calib, args.trainer, cfg, Theta.Backside)
except Exception as e:
print e.message
return 1
count = {'bts':0, 'bks':0, 'rej':0}
# open destination XML
with open(args.output, "w") as xmlfile:
w = XMLWriter(xmlfile)
w.declaration()
xmlfile.write("<!DOCTYPE dataset SYSTEM \"http://storage.gwillz.com.au/eagleeye_v2.dtd\">")
doc = w.start("dataset")
# main loop
while True:
w.start("frameInformation")
w.element("frame", number=str(frame_num))
for i in csvs:
c = csvs[i]
# determine marker quality
try:
max_reflectors = int(c.row()[8])
visible_reflectors = int(c.row()[9])
except:
print "Error in reading quality at row {}".format(i)
return 1
try:
# read VICON data
x = float(c.row()[2])
y = float(c.row()[3])
z = float(c.row()[4])
# TODO: is this necessary? We never use the object's rotation
rx = float(c.row()[5])
ry = float(c.row()[6])
rz = float(c.row()[7])
except:
print "Error occurred when converting VICON data at row {}".format(i)
return 1
# run projection/mapping on VICON data
if backside.isVisible((x,y,z)):
points = backside.reprojpts((x, y, z))
side = 'backside'
count['bks'] += 1
elif buttonside.isVisible((x,y,z)):
points = buttonside.reprojpts((x, y, z))
points[0] += 960 # add 960 to x for rightside points
side = 'buttonside'
count['bts'] += 1
# TODO don't write non visible dots?
else:
points = [0.,0.]
count['rej'] += 1
# TODO: Change DTD and double check with Manjung
w.start("object", id=str(i), name=c.name(), lens=Theta.name(side))
w.element("boxinfo", height="99", width="99", x=str(points[0]-50), y=str(points[1]-50))
w.element("centroid", x=str(points[0]), y=str(points[1]), rx=str(rx), ry=str(ry), rz=str(rz))
w.element("visibility", visible=str(visible_reflectors), visibleMax=str(max_reflectors))
w.end()
w.end()
# test end of files
eofs = 0
for i in csvs:
if csvs[i].eof(): eofs += 1
if len(csvs) == eofs:
print "end of all datasets"
break
# load next frame
frame_num += 1
for i in csvs:
csvs[i].next()
w.close(doc)
print "\nbuttonside", count['bts']
print "backside", count['bks']
print "rejected", count['rej']
return 0
