def main(get_depth, get_color, get_skeleton, get_mask, calculate_features, visualize, save_anonomized):
ret = 0
backgroundTemplates = np.empty([1,1,1])
backgroundModel = None
backgroundCount = 20
bgPercentage = .05
prevDepthIm = None
# prevDepthIms = []
# prevColorIms = []
day_dirs = os.listdir('depth/')
day_dirs = [x for x in day_dirs if x[0]!='.']
day_dirs.sort(key=lambda x: int(x))
hour_index = 0
minute_index=0
allFeatures = []
coms = []
orns = []
play_speed = 1
new_date_entered = False
framerate = 0
frame_prev = 0
frame_prev_time = time()
# for day_index in day_dirs:
day_index = 0
while day_index < len(day_dirs):
if new_date_entered:
try:
day_index = day_dirs.index(day_new)
except:
print "Day not found"
day_index = 0
# print "New day:", day_index
dayDir = day_dirs[day_index]
hour_dirs = os.listdir('depth/'+dayDir)
hour_dirs = [x for x in hour_dirs if x[0]!='.']
hour_dirs.sort(key=lambda x: int(x))
'''Hours'''
''' Check for new Hours index '''
if not new_date_entered:
if play_speed >= 0 and ret != keys_frame_left:
hour_index = 0
else:
hour_index = len(hour_dirs)-1
else:
try:
hour_index = hour_dirs.index(hour_new)
except:
print "Hour was not found"
hour_index = 0
while hour_index < len(hour_dirs):
# print "New hour:", hour_index
hourDir = hour_dirs[hour_index]
minute_dirs = os.listdir('depth/'+dayDir+'/'+hourDir)
minute_dirs = [x for x in minute_dirs if x[0]!='.']
minute_dirs.sort(key=lambda x: int(x))
'''Minutes'''
''' Check for new minute index '''
if not new_date_entered:
if play_speed >= 0 and ret != keys_frame_left:
minute_index = 0
else:
minute_index = len(minute_dirs)-1
else:
try:
minute_index = minute_dirs.index(minute_new)
except:
print "Minute was not found"
minute_index = 0
''' Loop through this minute '''
while minute_index < len(minute_dirs):
# print "New min:", minute_index
minute_dir = minute_dirs[minute_index]
if minute_dir[0] == '.': # Prevent from reading hidden files
continue
depth_files = []
skelFiles = []
# For each available device:
devices = os.listdir('depth/'+dayDir+'/'+hourDir+'/'+minute_dir)
devices = [x for x in devices if x[0]!='.' and x.find('tmp')<0]
devices.sort()
for deviceID in ['device_1']:
if not os.path.isdir('depth/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+deviceID):
continue
''' Sort files '''
if get_depth:
depthTmp = os.listdir('depth/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+deviceID)
tmpSort = [int(x.split('_')[-3])*100 + int(formatFileString(x.split('_')[-2])) for x in depthTmp]
depthTmp = np.array(depthTmp)[np.argsort(tmpSort)].tolist()
depth_files.append([x for x in depthTmp if x.find('.png')>=0])
if get_skeleton:
skelTmp = os.listdir('skel/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+deviceID)
tmpSort = [int(x.split('_')[-4])*100 + int(formatFileString(x.split('_')[-3])) for x in skelTmp]
skelTmp = np.array(skelTmp)[np.argsort(tmpSort)].tolist()
skelFiles.append([x for x in skelTmp if x.find('.dat')>=0])
if len(depth_files) == 0:
continue
# for dev, depthFile in multiCameraTimeline(depth_files):
if deviceID == 'device_2':
dev = 1
else:
dev = 0
if play_speed >= 0 and ret != keys_frame_left:
frame_id = 0
else:
frame_id = len(depth_files[dev])-1
while frame_id < len(depth_files[dev]):
depthFile = depth_files[dev][frame_id]
# try:
if 1:
''' Load Depth '''
if get_depth:
depthIm = sm.imread('depth/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+devices[dev]+'/'+depthFile)
depthIm = np.array(depthIm, dtype=np.uint16)
''' Load Color '''
if get_color:
colorFile = 'color_'+depthFile[6:-4]+'.jpg'
# pdb.set_trace()
colorIm = sm.imread('color/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+devices[dev]+'/'+colorFile)
# colorIm_g = colorIm.mean(-1, dtype=np.uint8)
colorIm_g = skimage.img_as_ubyte(skimage.color.rgb2gray(colorIm))
# colorIm_lab = skimage.color.rgb2lab(colorIm).astype(np.uint8)
# ''' Load Mask '''
# if get_mask:
# maskIm = sm.imread('depth/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+devices[dev]+'/'+depthFile[:-4]+"_mask.jpg") > 100
# depthIm = depthIm*(1-maskIm)+maskIm*5000
''' Load Skeleton Data '''
if get_skeleton:
skelFile = 'skel_'+depthFile[6:-4]+'_.dat'
if os.path.isfile('skel/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+devices[dev]+'/'+skelFile):
with open('skel/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+devices[dev]+'/'+skelFile, 'rb') as inFile:
users = pickle.load(inFile)
else:
print "No user file:", skelFile
coms = [users[x]['com'] for x in users.keys() if users[x]['com'][2] > 0.0]
jointCount = 0
for i in users.keys():
user = users[i]
timestamp = depthFile[:-4].split('_')[1:] # Day, hour, minute, second, millisecond, Frame number in this second
depthIm = np.minimum(depthIm.astype(np.float), 5000)
fillImage(depthIm)
'''Background model'''
if backgroundModel is None:
bgSubtraction = AdaptiveMixtureOfGaussians(depthIm, maxGaussians=3, learningRate=0.01, decayRate=0.02, variance=300**2)
backgroundModel = bgSubtraction.getModel()
if get_color:
prevColorIm = colorIm_g.copy()
continue
else:
bgSubtraction.update(depthIm)
backgroundModel = bgSubtraction.getModel()
foregroundMask = bgSubtraction.getForeground(thresh=50)
''' Find people '''
if get_skeleton:
ret = plotUsers(depthIm, users, device=devices[dev], vis=True)
if get_mask:
foregroundMask, userBoundingBoxes, userLabels = extractPeople(depthIm, foregroundMask, minPersonPixThresh=1500, gradientFilter=True, gradThresh=100)
''' Calculate user features '''
if calculate_features and get_color:
''' Color Optical Flow '''
flow = getFlow(prevColorIm, colorIm_g)
prevColorIm = colorIm_g.copy()
userCount = len(userBoundingBoxes)
for i in xrange(userCount):
userBox = userBoundingBoxes[i]
userMask = foregroundMask==i+1
allFeatures.append(computeUserFeatures(colorIm, depthIm, flow, userBox, time=timestamp, mask=userMask, windowSize=[96,72], visualise=False))
''' Or get CoM + orientation '''
if get_mask and not calculate_features:
userCount = len(userBoundingBoxes)
for i in xrange(userCount):
userBox = userBoundingBoxes[i]
userMask = foregroundMask==i+1
com, ornBasis = calculateBasicPose(depthIm, userMask)
coms.append(com)
orns.append(ornBasis[1])
allFeatures.append({'com':com, "orn":ornBasis, 'time':timestamp})
''' Visualization '''
if visualize:
tmpSecond = depthFile.split("_")[-3]
if len(tmpSecond) == 0:
tmpSecond = '0'+tmpSecond
if get_depth:
vv.imshow("Depth", depthIm/5000.)
vv.putText("Depth", "Day "+dayDir+" Time "+hourDir+":"+minute_dir+":"+tmpSecond, (5,220), size=15)
vv.putText("Depth", "Play speed: "+str(play_speed)+"x", (5,15), size=15)
vv.putText("Depth", str(int(framerate))+" fps", (275,15), size=15)
if get_color:
vv.putText(colorIm, "Day "+dayDir+" Time "+hourDir+":"+minute_dir+" Dev#"+str(dev), (10,220))
vv.imshow("I_orig", colorIm)
if get_mask:
# vv.imshow("I", colorIm*foregroundMask[:,:,np.newaxis])
vv.imshow("I_masked", colorIm + (255-colorIm)*(((foregroundMask)[:,:,np.newaxis])))
if get_mask:
vv.imshow("Mask", foregroundMask.astype(np.float)/float(foregroundMask.max()))
# vv.imshow("BG Model", backgroundModel.astype(np.float)/float(backgroundModel.max()))
''' Multi-camera map '''
if len(coms) > 0:
mapRez = [200,200]
mapIm = np.zeros(mapRez)
coms_np = np.array(coms)
xs = np.minimum(np.maximum(mapRez[0]+((coms_np[:,2]+500)/3000.*mapRez[0]).astype(np.int), 0),mapRez[0]-1)
ys = np.minimum(np.maximum(((coms_np[:,0]+500)/1500.*mapRez[0]).astype(np.int), 0), mapRez[1]-1)
mapIm[xs, ys] = 255
vv.imshow("Map", mapIm)
# scatter(coms_np[:,0], -coms_np[:,2])
'''3D Vis'''
if 0:
# figure = mlab.figure(1, fgcolor=(1,1,1), bgcolor=(0,0,0))
# from pyKinectTools.utils.DepthUtils import *
pts = depthIm2XYZ(depthIm).astype(np.int)
interval = 25
figure.scene.disable_render = True
mlab.clf()
# ss = mlab.points3d(-pts[::interval,0], pts[::interval,1], pts[::interval,2], colormap='Blues', vmin=1000., vmax=5000., mode='2dvertex')
ss = mlab.points3d(pts[::interval,0], pts[::interval,1], pts[::interval,2], 5.-(np.minimum(pts[::interval,2], 5000)/float((-pts[:,2]).max()))/1000., scale_factor=25., colormap='Blues')#, mode='2dvertex')
# , scale_factor=25.
mlab.view(azimuth=0, elevation=0, distance=3000., focalpoint=(0,0,0), figure=figure)#, reset_roll=False)
# mlab.roll(90)
currentView = mlab.view()
figure.scene.disable_render = False
mlab.draw()
# mlab.show()
# ss = mlab.points3d(pts[::interval,0], pts[::interval,1], pts[::interval,2], color=col, scale_factor=5)
# ss = mlab.points3d(pts[:,0], pts[:,1], pts[:,2], color=(1,1,1), scale_factor=5)
# ss = mlab.points3d(pts[:,0], pts[:,1], pts[:,2])
''' Playback control: Look at keyboard input '''
ret = vv.waitKey()
if frame_id - frame_prev > 0:
framerate = (frame_id - frame_prev) / (time() - frame_prev_time)
frame_prev = frame_id
frame_prev_time = time()
new_date_entered = False
if ret > 0:
print "Ret is",ret
if ret == keys_ESC:
break
elif ret == keys_space:
print "Enter the following into the command line"
tmp = raw_input("Enter date: ")
day_new = tmp
tmp = raw_input("Enter hour: ")
hour_new = tmp
tmp = raw_input("Enter minute: ")
minute_new = tmp
print "New date:", day_new, hour_new, minute_new
new_date_entered = True
break
elif ret == keys_down_arrow:
play_speed = 0
elif ret == keys_left_arrow:
play_speed -= 1
elif ret == keys_right_arrow:
play_speed += 1
elif ret == keys_i:
embed()
elif ret == keys_frame_left:
frame_id -= 1
elif ret == keys_frame_right:
frame_id += 1
elif ret == keys_help:
display_help()
frame_id += play_speed
# print frame_id
if save_anonomized and get_mask:
save_dir = 'color_masked/'+dayDir+'/'+hourDir+'/'+minute_dir+'/'+devices[dev]+'/'
createDirectory(save_dir)
sm.imsave(save_dir+'colorM_'+depthFile[6:-4]+'.jpg', colorIm*(1-foregroundMask))
# except:
# print "Erroneous frame"
# if visualize:
# vv.imshow("D", depthIm.astype(np.float)/5000)
# ret = vv.waitKey(10)
# End seconds
if ret == keys_ESC or new_date_entered:
break
if frame_id >= len(depth_files[dev]):
minute_index += 1
elif frame_id < 0:
minute_index -= 1
break
# End hours
if ret == keys_ESC or new_date_entered:
break
if minute_index >= len(minute_dirs):
hour_index += 1
elif minute_index < 0:
hour_index -= 1
break
# End days
if ret == keys_ESC:
break
if new_date_entered:
break
if hour_index >= len(hour_dirs):
day_index += 1
elif hour_index < 0:
day_index -= 1
if day_index < 0:
day_index = 0
if ret == keys_ESC or day_index > len(day_dirs):
break
np.save("/media/Data/r40_cX_", allFeatures)
embed()
# sequenceFrameNames = files[1200:1300]
sequenceFrameNames = files[::500]
# sequenceFrameNames = files[7200:7230] #:7300
imgs = []
for i in sequenceFrameNames:
imgs.append(scipy.misc.imread(dataDir+str(i)+'.jpg'))
imgs = np.array(imgs)
''' Get posMat from individual image '''
# t=7
t=13
im = imgs[t]
objectNum = 0
# posMatFull = posImage2XYZ(im, 500, 1250)
posMatFull = posImage2XYZ(im, 500, 2000)
imLabels, objSlices, objInds = extractPeople(posMatFull[:,:,2], 10000, True)
if len(objInds)!=0:
t += 1
assert len(objInds)!=0, "Error: No objects"
posMat = posMatFull[objSlices[objectNum]]
for i in range(3):
posMat[:,:,i] *= (imLabels[objSlices[objectNum]]==objInds[objectNum])
posMat = removeNoise(posMat, thresh=500)
xyz = posMat[(posMat[:,:,2]>0)*(posMat[:,:,0]!=0),:]
''' Get geodesic extrema '''
t1 = time.time()
regions, regionXYZ, regionLabels, edgeDict = regionGraph(posMat, pixelSize=1500)
regionPos = [x[2] for x in regionLabels[1:]]
regionPos.insert(0, [0,0])
