def skeletonizationCffi(self, ogm, origin, resolution, ogml):
# width = ogm.shape[0]
# height = ogm.shape[1]
local = numpy.zeros(ogm.shape)
local[ogm < 49] = 1
# for i in range(0, width):
# for j in range(0, height):
# if ogm[i][j] < 49:
# local[i][j] = 1
skeleton = Cffi.thinning(local, ogml)
skeleton = Cffi.prune(skeleton, ogml, 10)
# viz = []
# for i in range(0, width):
# for j in range(0, height):
# if skeleton[i][j] == 1:
# viz.append([i * resolution + origin['x'],j * resolution + origin['y']])
viz = (numpy.array(numpy.where(skeleton == 1)).T * resolution +
[origin['x'], origin['y']]).tolist()
RvizHandler.printMarker(\
viz,\
1, # Type: Arrow
0, # Action: Add
"map", # Frame
"art_skeletonization_cffi", # Namespace
[0.5, 0, 0, 0.5], # Color RGBA
0.05 # Scale
)
return skeleton
def skeletonizationCffi(self, ogm, origin, resolution, ogml):
width = ogm.shape[0]
height = ogm.shape[1]
local = numpy.zeros(ogm.shape)
for i in range(0, width):
for j in range(0, height):
if ogm[i][j] < 49:
local[i][j] = 1
skeleton = Cffi.thinning(local, ogml)
skeleton = Cffi.prune(skeleton, ogml, 10)
viz = []
for i in range(0, width):
for j in range(0, height):
if skeleton[i][j] == 1:
viz.append([
i * resolution + origin['x'],
j * resolution + origin['y']
])
RvizHandler.printMarker(\
viz,\
1, # Type: Arrow
0, # Action: Add
"map", # Frame
"art_skeletonization_cffi", # Namespace
[0.5, 0, 0, 0.5], # Color RGBA
0.05 # Scale
)
return skeleton
def skeletonizationCffi(ogm, origin, resolution, ogml):
local = numpy.zeros(ogm.shape)
local = set_ogm(ogm, local, ogm.shape[0], ogm.shape[1])
#start = time()
skeleton = Cffi.thinning(local, ogml)
#print str('SkeletonizationCffi: Thinning in ') + str(time() - start) + str(' seconds.')
#start = time()
skeleton = Cffi.prune(skeleton, ogml, 10)
#print str('SkeletonizationCffi: Prunning in ') + str(time() - start) + str(' seconds.')
#start = time()
'''
viz = set_skeleton_viz(skeleton, numpy.zeros((set_skeleton_viz_number(skeleton, ogm.shape[0], ogm.shape[1]), 2), dtype=numpy.float64),
ogm.shape[0], ogm.shape[1], resolution, origin['x'], origin['y'])
RvizHandler.printMarker(viz, 1, 0, "map", "art_skeletonization_cffi", [0.5, 0, 0, 0.5], 0.05)
'''
'''
viz = []
for i in range(0, ogm.shape[0]):
for j in range(0, ogm.shape[1]):
if skeleton[i][j] == 1:
viz.append([i * resolution + origin['x'],j * resolution + origin['y']])
print str('SkeletonizationCffi: Visualization in ') + str(time() - start) + str(' seconds.')
RvizHandler.printMarker(viz, 1, 0, "map", "art_skeletonization_cffi", [0.5, 0, 0, 0.5], 0.05)
'''
return skeleton
def skeletonizationCffi(ogm, origin, resolution, ogml):
skeleton = (ogm < 49).astype("int32")
skeleton = Cffi.thinning(skeleton, ogml)
skeleton = Cffi.prune(skeleton, ogml, 10)
print_viz(skeleton, resolution, origin['x'], origin['y'])
return skeleton
def skeletonizationCffi(self, ogm, origin, resolution, ogml):
width = ogm.shape[0]
height = ogm.shape[1]
# import time
local = numpy.zeros(ogm.shape)
# 10x faster
local[numpy.where(ogm < 49)] = 1
# local2 = numpy.zeros(ogm.shape)
# start = time.time()
# for i in range(0, width):
# for j in range(0, height):
# if ogm[i][j] < 49:
# local[i][j] = 1
# end = time.time()
# print ("loop took:", end-start)
# start = time.time()
# local[numpy.where(ogm<49)] = 1
# end = time.time()
# print ("numpy took:", end-start)
skeleton = Cffi.thinning(local, ogml)
skeleton = Cffi.prune(skeleton, ogml, 10)
viz = []
for i in range(0, width):
for j in range(0, height):
if skeleton[i][j] == 1:
viz.append([
i * resolution + origin['x'],
j * resolution + origin['y']
])
RvizHandler.printMarker(\
viz,\
1, # Type: Arrow
0, # Action: Add
"map", # Frame
"art_skeletonization_cffi", # Namespace
[0.5, 0, 0, 0.5], # Color RGBA
0.05 # Scale
)
return skeleton
def skeletonizationCffi(self, ogm, origin, resolution, ogml):
width = ogm.shape[0]
height = ogm.shape[1]
local = numpy.zeros(ogm.shape)
start = time.time()
########################################################################
####################### Original Code ##################################
# for i in range(0, width):
# for j in range(0, height):
# if ogm[i][j] < 49:
# local[i][j] = 1
############################ Added code #################################
step = 50
first = [0, 0]
last = [0, 0]
# Find the area in which there is propability of coverage
for i in range(0, width, step):
for j in range(0, height, step):
if ogm[i][j] < 49:
if first == [0, 0]:
first = [i, j]
last = [i, j]
# Search only in the area found
for i in range(first[0] - step, last[0] + step):
for j in range(first[1] - step, last[1] + step):
if ogm[i][j] < 49:
local[i][j] = 1
#########################################################################
end = time.time()
print end - start
skeleton = Cffi.thinning(local, ogml)
skeleton = Cffi.prune(skeleton, ogml, 10)
viz = []
for i in range(0, width):
for j in range(0, height):
if skeleton[i][j] == 1:
viz.append([
i * resolution + origin['x'],
j * resolution + origin['y']
])
RvizHandler.printMarker(\
viz,\
1, # Type: Arrow
0, # Action: Add
"map", # Frame
"art_skeletonization_cffi", # Namespace
[0.5, 0, 0, 0.5], # Color RGBA
0.05 # Scale
)
return skeleton