def test_is_child_fully_visible():
depthmap_dir = str(TOOLKIT_DIR / 'huawei_p40pro')
depthmap_fname = 'depth_dog_1622182020448_100_282.depth'
calibration_file = str(TOOLKIT_DIR / 'huawei_p40pro' /
'camera_calibration.txt')
dmap = Depthmap.create_from_zip(depthmap_dir, depthmap_fname, 0,
calibration_file)
# Run standard normal visibility check
floor = dmap.get_floor_level()
mask = dmap.segment_child(floor)
assert dmap.is_child_fully_visible(mask)
# Run visibility check when child is covering most of the camera
margin = 5
x1 = margin
x2 = dmap.width - margin
y1 = margin
y2 = dmap.height - margin
mask[x1:x2, y1:y2] = MASK_CHILD
assert not dmap.is_child_fully_visible(mask)
def show(depthmap_dir: str, calibration_file: str, original_orientation=False):
global DMAP
fig.canvas.manager.set_window_title(depth_filenames[IDX_CUR_DMAP])
rgb_filename = rgb_filenames[IDX_CUR_DMAP] if rgb_filenames else 0
DMAP = Depthmap.create_from_zip(depthmap_dir,
depth_filenames[IDX_CUR_DMAP],
rgb_filename, calibration_file)
angle = DMAP.get_angle_between_camera_and_floor()
logging.info('angle between camera and floor is %f', angle)
output = render_plot(DMAP)
if original_orientation:
output = ndimage.rotate(output, 90)
plt.imshow(output)
plot_names = [
'depth', 'normals', 'child/background segmentation', 'confidence'
]
if DMAP.has_rgb:
plot_names.append('rgb')
plot_title = '\n'.join(
[f'{i}: {plot_name}' for i, plot_name in enumerate(plot_names)])
plt.title(plot_title)
plt.show()