def visualize_segments(seq):
edge_dir = os.path.join(seq, 'edges', '*.jpg')
paths = glob.glob(edge_dir)
fig = pynutmeg.figure('segments', 'figs/segments.qml')
fig.set_gui('figs/segments_gui.qml')
fig.set('ax.im', xOffset=-0.5, yOffset=-0.5)
nextframe = fig.parameter('nextframe')
nextframe.wait_changed()
prv = fig.parameter('prev')
nxt = fig.parameter('next')
for p in paths[::50]:
print("\nReading in {}".format(p))
E = IO.imread(p)
pts, labels = Contours.find_contours_edge(E,
low=30,
high=50,
min_length=10)
J, I = pts.T
show = np.empty_like(E)
show[:] = 255
show[I, J] = 255 - E[I, J]
fig.set('ax.im', binary=show)
label = 0
x = empty(0)
y = empty(0)
while True:
if nextframe.changed:
nextframe.read()
break
label_changed = nxt.changed or prv.changed
if nxt.changed:
label += 1
elif prv.changed:
label = max(0, label - 1)
if label_changed:
print("Calc for label {}".format(label))
prv.read()
nxt.read()
sel = np.where(labels == label)[0]
x = J[sel].astype(float)
y = I[sel].astype(float)
fig.set('ax.P0', x=x, y=y)
fig.set('ax.P1', x=x[0:1], y=y[0:1])
time.sleep(0.005)
def extract_rays(seq, sub, skip=2, max_frame=None, imtype='png'):
edge_dir = os.path.join(seq, 'edges', '*.'+imtype)
paths = glob.glob(edge_dir)
paths.sort()
F = len(paths)
cam = IO.read_cam_param( os.path.join(seq, 'cam.yaml') )
Rt_path = os.path.join(seq, 'tracking.csv')
R, t, times, valid = IO.read_tracking(Rt_path)
valid_bool = zeros(len(R), bool)
valid_bool[valid] = True
cloud = RayCloud.RayCloud()
cloud.set_cam(cam)
cloud.set_poses(R, t)
fig = pynutmeg.figure('segments', 'figs/segments.qml')
if max_frame is None:
max_frame = F
print("Estimating bounding box volume from labels")
frames, boxes = IO.read_rects( os.path.join(seq, 'rects.yaml') )
cloud.apply_bounding_boxes(frames, boxes)
print("Extracting Edge Rays")
for f in range(0, max_frame, skip):
if not valid_bool[f]:
continue
print("\r\tFrame: {} of {}".format(f, F), end=' '*16, flush=True)
E = IO.imread( paths[f] )
pts, labels = Contours.find_contours_edge(E, low=20, high=35, min_length=30)
im = np.empty_like(E)
im[:] = 255
im[pts[:,1], pts[:,0]] = 0
# TODO: Maybe put the next 2 into the one function. This is fine for now though
pts, labels = Contours.simplify_labeled(pts, labels, eps=1.5)
tangents, labels = Contours.segment_tangents(pts, labels, thresh=35.)
# fig.set('ax.im', binary=255-E)
fig.set('ax.im', binary=im)
cloud.add_pixels(pts, tangents, f, labels)
print("\nSaving ray cloud...")
cloud.save( os.path.join(seq, sub) )
