def main():
pub = rospy.TopicPub('image', Image)
rospy.ready('test_send')
image = cv.cvCreateImage(cv.cvSize(640,480), 8, 1)
cv.cvSet(image, 133)
while not rospy.is_shutdown():
pub.publish(Image(None, 'test', image.width, image.height, 'none', 'mono8', image.imageData))
time.sleep(.033)
rospy.spin()
def main():
pub = rospy.TopicPub('image', Image)
rospy.ready('test_send')
image = cv.cvCreateImage(cv.cvSize(640, 480), 8, 1)
cv.cvSet(image, 133)
while not rospy.is_shutdown():
pub.publish(
Image(None, 'test', image.width, image.height, 'none', 'mono8',
image.imageData))
time.sleep(.033)
rospy.spin()
def tile_images(img_width, img_height, num_width, num_height, images, channels=3):
w = img_width * num_width
h = img_height * num_height
image = cv.cvCreateImage(cv.cvSize(int(w), int(h)), 8, channels)
cv.cvSet(image, cv.cvScalar(255,255,255))
while len(images) > 0:
try:
for y in range(int(num_height)):
for x in range(int(num_width)):
small_tile = images.pop()
img_x = x * img_width
img_y = y * img_height
cropped = cv.cvGetSubRect(image, cv.cvRect(img_x, img_y, img_width,img_height))
cv.cvCopy(small_tile, cropped)
except exceptions.IndexError, e:
break
def __init__(self, frame):
self.blob_image = opencv.cvCloneImage(frame.iplimage)
self.blob_gray = opencv.cvCreateImage(opencv.cvGetSize(self.blob_image), 8, 1)
self.blob_mask = opencv.cvCreateImage(opencv.cvGetSize(self.blob_image), 8, 1)
opencv.cvSet(self.blob_mask, 1)
opencv.cvCvtColor(self.blob_image, self.blob_gray, opencv.CV_BGR2GRAY)
# opencv.cvEqualizeHist(self.blob_gray, self.blob_gray)
# opencv.cvThreshold(self.blob_gray, self.blob_gray, frame.thresh, 255, opencv.CV_THRESH_BINARY)
# opencv.cvThreshold(self.blob_gray, self.blob_gray, frame.thresh, 255, opencv.CV_THRESH_TOZERO)
opencv.cvThreshold(self.blob_gray, self.blob_gray, frame.bthresh, 255, frame.bthreshmode)
# opencv.cvAdaptiveThreshold(self.blob_gray, self.blob_gray, 255, opencv.CV_ADAPTIVE_THRESH_MEAN_C, opencv.CV_THRESH_BINARY_INV)
self._frame_blobs = CBlobResult(self.blob_gray, self.blob_mask, 100, True)
self._frame_blobs.filter_blobs(10, 10000)
self.count = self._frame_blobs.GetNumBlobs()
self.items = []
for i in range(self.count):
self.items.append(self._frame_blobs.GetBlob(i))
def __init__(self, frame):
self.blob_image = opencv.cvCloneImage(frame.iplimage)
self.blob_gray = opencv.cvCreateImage(opencv.cvGetSize(self.blob_image), 8, 1)
self.blob_mask = opencv.cvCreateImage(opencv.cvGetSize(self.blob_image), 8, 1)
opencv.cvSet(self.blob_mask, 1)
opencv.cvCvtColor(self.blob_image, self.blob_gray, opencv.CV_BGR2GRAY)
#opencv.cvEqualizeHist(self.blob_gray, self.blob_gray)
#opencv.cvThreshold(self.blob_gray, self.blob_gray, frame.thresh, 255, opencv.CV_THRESH_BINARY)
#opencv.cvThreshold(self.blob_gray, self.blob_gray, frame.thresh, 255, opencv.CV_THRESH_TOZERO)
opencv.cvThreshold(self.blob_gray, self.blob_gray, frame.bthresh, 255, frame.bthreshmode)
#opencv.cvAdaptiveThreshold(self.blob_gray, self.blob_gray, 255, opencv.CV_ADAPTIVE_THRESH_MEAN_C, opencv.CV_THRESH_BINARY_INV)
self._frame_blobs = CBlobResult(self.blob_gray, self.blob_mask, 100, True)
self._frame_blobs.filter_blobs(10, 10000)
self.count = self._frame_blobs.GetNumBlobs()
self.items = []
for i in range(self.count):
self.items.append(self._frame_blobs.GetBlob(i))
def tile_images(img_width,
img_height,
num_width,
num_height,
images,
channels=3):
w = img_width * num_width
h = img_height * num_height
image = cv.cvCreateImage(cv.cvSize(int(w), int(h)), 8, channels)
cv.cvSet(image, cv.cvScalar(255, 255, 255))
while len(images) > 0:
try:
for y in range(int(num_height)):
for x in range(int(num_width)):
small_tile = images.pop()
img_x = x * img_width
img_y = y * img_height
cropped = cv.cvGetSubRect(
image, cv.cvRect(img_x, img_y, img_width, img_height))
cv.cvCopy(small_tile, cropped)
except exceptions.IndexError, e:
break
def create_train_datastructures(self):
#loop through all marked datasets
self.processor.scan_dataset = self.processor.scans_database.get_dataset(0)
training_set_size = 0
data = []
#get size of training set in total
while False != self.processor.scan_dataset:
if self.processor.scan_dataset.is_training_set:
filename = self.processor.get_features_filename(True)
print 'loading', filename
dict = ut.load_pickle(filename)
# make an equal size of points for each class: use object labels more often:
difference = np.sum(dict['labels'] == processor.LABEL_SURFACE) - np.sum(dict['labels'] == processor.LABEL_CLUTTER)
#print getTime(), filename
#print getTime(), 'surface',np.sum(dict['labels'] == LABEL_SURFACE)
#print getTime(), 'clutter',np.sum(dict['labels'] == LABEL_CLUTTER)
#print getTime(), difference, "difference = np.sum(dict['labels'] == LABEL_SURFACE) - np.sum(dict['labels'] == LABEL_CLUTTER)"
#print getTime(), ''
if difference > 0:
clutter_features = (dict['features'])[np.nonzero(dict['labels'] == processor.LABEL_CLUTTER)]
if len(clutter_features) > 0: #if there are none, do nothin'
dict['set_size'] += difference
dict['features'] = np.vstack((dict['features'], clutter_features[np.random.randint(0,len(clutter_features),size=difference)]))
dict['labels'] = np.hstack((dict['labels'], np.ones(difference) * processor.LABEL_CLUTTER))
elif difference < 0:
surface_features = (dict['features'])[np.nonzero(dict['labels'] == processor.LABEL_SURFACE)]
if len(surface_features) > 0: #if there are none, do nothin'
difference = -difference
dict['set_size'] += difference
dict['features'] = np.vstack((dict['features'], surface_features[np.random.randint(0,len(surface_features),size=difference)]))
dict['labels'] = np.hstack((dict['labels'], np.ones(difference) * processor.LABEL_SURFACE))
training_set_size += dict['set_size']
data.append(dict)
#get next one
self.processor.scan_dataset = self.processor.scans_database.get_next_dataset()
#print getTime(), self.scan_dataset
#create training set:
self.processor.scan_dataset = self.processor.scans_database.get_dataset(0)
current_training_set_index = 0
feature_vector_length = len(self.processor.features.get_indexvector(self.features))
print getTime(), feature_vector_length
#create dataset matrices:
print getTime(), '#training set size ', training_set_size
#deactivate for now:
max_traning_size = 1800000#2040000
#if training_set_size < max_traning_size:
if True:
train_data = cv.cvCreateMat(training_set_size,feature_vector_length,cv.CV_32FC1) #CvMat* cvCreateMat(int rows, int cols, int type)
train_labels = cv.cvCreateMat(training_set_size,1,cv.CV_32FC1)
for dict in data:
for index in range(dict['set_size']):
#only train on surface and clutter
if dict['labels'][index] == processor.LABEL_SURFACE or dict['labels'][index]== processor.LABEL_CLUTTER:
#print getTime(), point3d
#print getTime(), 'fvindexv',self.get_features_indexvector(features)
#print getTime(), 'len', len(self.get_features_indexvector(features))
fv = (dict['features'][index])[self.processor.features.get_indexvector(self.features)]
#print getTime(), 'fv',fv
#print getTime(), np.shape(fv)
for fv_index, fv_value in enumerate(fv):
train_data[current_training_set_index][fv_index] = fv_value
train_labels[current_training_set_index] = dict['labels'][index]
# for fv_index, fv_value in enumerate(fv):
# print getTime(), train_data[current_training_set_index][fv_index]
# print getTime(), '##',train_labels[current_training_set_index],'##'
#print getTime(), 'fv ', fv
#print getTime(), 'tr ',train_data[index]
current_training_set_index = current_training_set_index + 1
#if current_training_set_index % 4096 == 0:
# print getTime(), 'label', dict['labels'][index], 'fv', fv
if current_training_set_index % 16384 == 0:
print getTime(), 'reading features:', current_training_set_index, 'of', training_set_size, '(',(float(current_training_set_index)/float(training_set_size)*100.0),'%)'
else:
print getTime(), 'more than',max_traning_size,'features, sample from them...'
#select 2040000 features:
all_data = []
all_labels = []
for dict in data:
for index in range(dict['set_size']):
if dict['labels'][index] == processor.LABEL_SURFACE or dict['labels'][index]== processor.LABEL_CLUTTER:
fv = (dict['features'][index])[self.processor.features.get_indexvector(self.features)]
all_data += [fv]
all_labels += [dict['labels'][index]]
current_training_set_index = current_training_set_index + 1
if current_training_set_index % 16384 == 0:
print getTime(), 'reading features:', current_training_set_index, 'of', training_set_size, '(',(float(current_training_set_index)/float(training_set_size)*100.0),'%)'
del data
import random
indices = np.array(random.sample(xrange(len(all_labels)),max_traning_size))
all_data = np.asarray(all_data)
all_labels = np.asarray(all_labels)
all_data = all_data[indices]
all_labels = all_labels[indices]
train_data = cv.cvCreateMat(max_traning_size,feature_vector_length,cv.CV_32FC1) #CvMat* cvCreateMat(int rows, int cols, int type)
train_labels = cv.cvCreateMat(max_traning_size,1,cv.CV_32FC1)
for index in range(max_traning_size):
for fv_index, fv_value in enumerate(all_data[index]):
train_data[index][fv_index] = fv_value
train_labels[index] = all_labels[index]
if index % 16384 == 0:
print getTime(), 'setting features:', (float(index)/float(max_traning_size))
print getTime(), 'start training Classifier'
type_mask = cv.cvCreateMat(1, feature_vector_length+1, cv.CV_8UC1)
cv.cvSet( type_mask, cv.CV_VAR_NUMERICAL, 0)
type_mask[feature_vector_length] = cv.CV_VAR_CATEGORICAL
return (train_data, train_labels, type_mask)
