def draw_prediction(self, thedata, args):
import linecache
import re
frame_id = np.random.randint(
1, high=sum(1 for _ in open(self.predict_file, 'r')))
with h5py.File(self.appen_test, 'r') as h5file:
img_id = h5file['index'][frame_id, 0]
# frame_h5 = np.squeeze(h5file['frame'][frame_id, ...], -1)
# poses_h5 = h5file['poses'][frame_id, ...].reshape(-1, 3)
resce_h5 = h5file['resce'][frame_id, ...]
print('[{}] drawing image #{:d} ...'.format(self.name_desc, img_id))
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
ax = mpplot.subplot(1, 2, 1, projection='3d')
annot_line = args.data_io.get_line(thedata.annotation_train, img_id)
img_name, pose_raw = args.data_io.parse_line_annot(annot_line)
img = args.data_io.read_image(os.path.join(self.image_dir, img_name))
points3 = args.data_ops.img_to_raw(img, self.caminfo)
numpts = points3.shape[0]
if 1000 < numpts:
samid = np.random.choice(numpts, 1000, replace=False)
points3_sam = points3[samid, :]
else:
points3_sam = points3
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
mpplot.gca().set_title('Ground truth')
ax = mpplot.subplot(1, 2, 2, projection='3d')
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
line_pred = linecache.getline(self.predict_file, frame_id)
pred_list = re.split(r'\s+', line_pred.strip())
centre = np.array([float(i) for i in pred_list[1:4]])
cube = iso_cube(centre, self.region_size)
# cube.show_dims()
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
mpplot.gca().set_title('Prediction')
print('[{}] drawing image #{:d} - done.'.format(
self.name_desc, img_id))
def draw_random(self, thedata, args):
import matplotlib.pyplot as mpplot
from mpl_toolkits.mplot3d import Axes3D
from mayavi import mlab
# mlab.figure(size=(800, 800))
# # cube = iso_cube()
# # points3_trans = np.hstack(
# # (np.zeros((10, 2)), np.arange(-1, 1, 0.2).reshape(10, 1)))
# # grid = regu_grid()
# # grid.from_cube(cube, 6)
# # pcnt = grid.fill(points3_trans)
#
# pcnt = np.zeros((6, 6, 6))
# pcnt[2:4, 2:4, 3] = 1
# frame = args.data_ops.prop_dist(pcnt)
# mlab.pipeline.volume(mlab.pipeline.scalar_field(frame))
# mlab.pipeline.image_plane_widget(
# mlab.pipeline.scalar_field(frame),
# plane_orientation='z_axes',
# slice_index=self.crop_size / 2)
# print(pcnt[..., 3])
# print(frame[..., 3])
# print(frame[0, 0, 3], type(frame[0, 0, 3]))
# mlab.outline()
# mlab.show()
# os._exit(0)
# mode = 'train'
mode = 'test'
store_handle = self.store_handle[mode]
index_h5 = store_handle['index']
store_size = index_h5.shape[0]
frame_id = np.random.choice(store_size)
# frame_id = 0 # frame_id = img_id - 1
# frame_id = 239
img_id = index_h5[frame_id, ...]
frame_h5 = store_handle['pcnt3'][frame_id, ...]
poses_h5 = store_handle['pose_c'][frame_id, ...].reshape(-1, 3)
resce_h5 = store_handle['resce'][frame_id, ...]
print('[{}] drawing image #{:d} ...'.format(self.name_desc, img_id))
print(np.min(frame_h5), np.max(frame_h5))
print(np.histogram(frame_h5, range=(1e-4, np.max(frame_h5))))
from colour import Color
colors = [Color('orange').rgb, Color('red').rgb, Color('lime').rgb]
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
fig, _ = mpplot.subplots(nrows=2, ncols=2, figsize=(2 * 5, 2 * 5))
ax = mpplot.subplot(2, 2, 1)
img_name = args.data_io.index2imagename(img_id)
img = args.data_io.read_image(
self.data_inst.images_join(img_name, mode))
ax.imshow(img, cmap=mpplot.cm.bone_r)
pose_raw = self.yanker(poses_h5, resce_h5, self.caminfo)
args.data_draw.draw_pose2d(
ax, thedata, args.data_ops.raw_to_2d(pose_raw, self.caminfo))
rects = cube.proj_rects_3(args.data_ops.raw_to_2d, self.caminfo)
for ii, rect in enumerate(rects):
rect.draw(ax, colors[ii])
ax = mpplot.subplot(2, 2, 3, projection='3d')
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
cube.show_dims()
points3 = args.data_ops.img_to_raw(img, self.caminfo)
points3_trans = cube.pick(points3)
points3_trans = cube.transform_to_center(points3_trans)
numpts = points3_trans.shape[0]
if 1000 < numpts:
points3_trans = points3_trans[
np.random.choice(numpts, 1000, replace=False), :]
ax.scatter(points3_trans[:, 0],
points3_trans[:, 1],
points3_trans[:, 2],
color=Color('lightsteelblue').rgb)
pose_c = cube.transform_to_center(pose_raw)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_c)
corners = cube.transform_to_center(cube.get_corners())
cube.draw_cube_wire(ax, corners)
ax.view_init(azim=-120, elev=-150)
ax = mpplot.subplot(2, 2, 2, projection='3d')
numpts = points3.shape[0]
if 1000 < numpts:
samid = np.random.choice(numpts, 1000, replace=False)
points3_sam = points3[samid, :]
else:
points3_sam = points3
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
voxize_crop = self.crop_size
grid = regu_grid()
grid.from_cube(cube, voxize_crop)
vxcnt_crop = frame_h5
def draw_voxel_pose(ax, poses, roll=0):
pose3d = cube.transform_center_shrink(poses)
pose2d, _ = cube.project_ortho(pose3d, roll=roll, sort=False)
pose2d *= voxize_crop
args.data_draw.draw_pose2d(
ax,
thedata,
pose2d,
)
coord = grid.slice_ortho(vxcnt_crop, roll=roll)
grid.draw_slice(ax, coord, 1.)
ax.set_xlim([0, voxize_crop])
ax.set_ylim([0, voxize_crop])
ax.set_aspect('equal', adjustable='box')
ax.invert_yaxis()
ax = mpplot.subplot(2, 2, 4)
draw_voxel_pose(ax, pose_raw, roll=0)
# if not self.args.show_draw:
# mlab.options.offscreen = True
# mlab.figure(size=(800, 800))
# points3_trans = cube.transform_to_center(points3_sam)
# mlab.points3d(
# points3_trans[:, 0], points3_trans[:, 1], points3_trans[:, 2],
# scale_factor=8,
# color=Color('lightsteelblue').rgb)
# mlab.outline()
if not self.args.show_draw:
mlab.options.offscreen = True
else:
mlab.figure(size=(800, 800))
# mlab.contour3d(frame)
mlab.pipeline.volume(mlab.pipeline.scalar_field(frame_h5))
mlab.pipeline.image_plane_widget(
mlab.pipeline.scalar_field(frame_h5),
plane_orientation='z_axes',
slice_index=self.crop_size / 2)
np.set_printoptions(precision=4)
# print(frame[12:20, 12:20, 16])
mlab.outline()
from utils.image_ops import draw_dist3
draw_dist3(vxcnt_crop, voxize_crop, 2)
mlab.draw()
mlab.savefig(
os.path.join(self.predict_dir,
'draw3d_{}_{}.png'.format(self.name_desc,
img_id)))
fig.tight_layout()
mpplot.savefig(
os.path.join(self.predict_dir,
'draw_{}_{}.png'.format(self.name_desc, img_id)))
if self.args.show_draw:
mpplot.show()
mlab.close(all=True)
print('[{}] drawing image #{:d} - done.'.format(
self.name_desc, img_id))
def draw_random(self, thedata, args):
from mayavi import mlab
with h5py.File(self.appen_train, 'r') as h5file:
store_size = h5file['index'].shape[0]
frame_id = np.random.choice(store_size)
img_id = h5file['index'][frame_id, 0]
frame_h5 = np.squeeze(h5file['frame'][frame_id, ...], axis=-1)
poses_h5 = h5file['poses'][frame_id, ...]
resce_h5 = h5file['resce'][frame_id, ...]
print('[{}] drawing image #{:d} ...'.format(self.name_desc, img_id))
# colors = [Color('orange').rgb, Color('red').rgb, Color('lime').rgb]
fig, _ = mpplot.subplots(nrows=2, ncols=2, figsize=(2 * 5, 2 * 5))
ax = mpplot.subplot(2, 2, 1)
mpplot.gca().set_title('test input')
annot_line = args.data_io.get_line(thedata.annotation_train, img_id)
img_name, pose_raw = args.data_io.parse_line_annot(annot_line)
img = args.data_io.read_image(os.path.join(self.image_dir, img_name))
ax.imshow(img, cmap=mpplot.cm.bone_r)
args.data_draw.draw_pose2d(
ax, thedata, args.data_ops.raw_to_2d(pose_raw, self.caminfo))
ax = mpplot.subplot(2, 2, 3, projection='3d')
mpplot.gca().set_title('test storage read')
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
cube.show_dims()
points3 = args.data_ops.img_to_raw(img, self.caminfo)
numpts = points3.shape[0]
if 1000 < numpts:
points3_sam = points3[
np.random.choice(numpts, 1000, replace=False), :]
else:
points3_sam = points3
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
ax = mpplot.subplot(2, 2, 4)
mpplot.gca().set_title('test output')
img_name = args.data_io.index2imagename(img_id)
img = args.data_io.read_image(os.path.join(self.image_dir, img_name))
ax.imshow(img, cmap=mpplot.cm.bone_r)
ax = mpplot.subplot(2, 2, 2, projection='3d')
mpplot.gca().set_title('test storage write')
numpts = points3.shape[0]
if 1000 < numpts:
samid = np.random.choice(numpts, 1000, replace=False)
points3_sam = points3[samid, :]
else:
points3_sam = points3
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
mlab.figure(size=(800, 800))
img_name, frame, poses, resce = self.provider_worker(
annot_line, self.image_dir, self.caminfo)
frame = np.squeeze(frame, axis=-1)
if ((1e-4 < np.linalg.norm(frame_h5 - frame))
or (1e-4 < np.linalg.norm(poses_h5 - poses))):
print(np.linalg.norm(frame_h5 - frame))
print(np.linalg.norm(poses_h5 - poses))
_, frame_1, _, _ = self.provider_worker(annot_line, self.image_dir,
self.caminfo)
print(np.linalg.norm(frame_1 - frame))
with h5py.File('/tmp/111', 'w') as h5file:
h5file.create_dataset('frame', data=frame_1, dtype='f4')
with h5py.File('/tmp/111', 'r') as h5file:
frame_2 = h5file['frame'][:]
print(np.linalg.norm(frame_1 - frame_2))
print('ERROR - h5 storage corrupted!')
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
cube.show_dims()
# mlab.contour3d(frame)
mlab.pipeline.volume(mlab.pipeline.scalar_field(frame))
mlab.pipeline.image_plane_widget(mlab.pipeline.scalar_field(frame),
plane_orientation='z_axes',
slice_index=self.crop_size / 2)
np.set_printoptions(precision=4)
# print(frame[12:20, 12:20, 16])
mlab.outline()
fig.tight_layout()
mpplot.savefig(
os.path.join(self.predict_dir,
'draw_{}_{}.png'.format(self.name_desc, img_id)))
if self.args.show_draw:
mpplot.show()
print('[{}] drawing image #{:d} - done.'.format(
self.name_desc, img_id))
def draw_random(self, thedata, args):
import matplotlib.pyplot as mpplot
from mpl_toolkits.mplot3d import Axes3D
from mayavi import mlab
# mode = 'train'
mode = 'test'
store_handle = self.store_handle[mode]
index_h5 = store_handle['index']
store_size = index_h5.shape[0]
frame_id = np.random.choice(store_size)
# frame_id = 0 # frame_id = img_id - 1
# frame_id = 239
img_id = index_h5[frame_id, ...]
frame_h5 = store_handle['vxhit'][frame_id, ...]
poses_h5 = store_handle['poses'][frame_id, ...].reshape(-1, 3)
pose_lab_h5 = store_handle['pose_lab'][frame_id, ...]
resce_h5 = store_handle['resce'][frame_id, ...]
print('[{}] drawing image #{:d} ...'.format(self.name_desc, img_id))
print(np.min(frame_h5), np.max(frame_h5))
print(np.histogram(frame_h5, range=(1e-4, np.max(frame_h5))))
print(resce_h5)
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
cube.show_dims()
img_name = args.data_io.index2imagename(img_id)
img = args.data_io.read_image(
self.data_inst.images_join(img_name, mode))
from colour import Color
colors = [Color('orange').rgb, Color('red').rgb, Color('lime').rgb]
fig, _ = mpplot.subplots(nrows=2, ncols=4, figsize=(4 * 5, 2 * 5))
voxize_crop = self.crop_size
voxize_hmap = self.hmap_size
scale = self.map_scale
ax = mpplot.subplot(2, 4, 3, projection='3d')
points3 = args.data_ops.img_to_raw(img, self.caminfo)
points3_trans = cube.pick(points3)
# points3_trans = cube.transform_to_center(points3_trans)
numpts = points3_trans.shape[0]
if 1000 < numpts:
points3_trans = points3_trans[
np.random.choice(numpts, 1000, replace=False), :]
ax.scatter(points3_trans[:, 0],
points3_trans[:, 1],
points3_trans[:, 2],
color=Color('lightsteelblue').rgb)
args.data_draw.draw_raw3d_pose(ax, thedata, poses_h5)
corners = cube.get_corners()
# corners = cube.transform_to_center(corners)
cube.draw_cube_wire(ax, corners)
ax.view_init(azim=-90, elev=-75)
ax = mpplot.subplot(2, 4, 1)
ax.imshow(img, cmap=mpplot.cm.bone_r)
pose_raw = poses_h5
args.data_draw.draw_pose2d(
ax, thedata, args.data_ops.raw_to_2d(pose_raw, self.caminfo))
rects = cube.proj_rects_3(args.data_ops.raw_to_2d, self.caminfo)
for ii, rect in enumerate(rects):
rect.draw(ax, colors[ii])
ax = mpplot.subplot(2, 4, 2, projection='3d')
numpts = points3.shape[0]
if 1000 < numpts:
samid = np.random.choice(numpts, 1000, replace=False)
points3_sam = points3[samid, :]
else:
points3_sam = points3
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
ax = mpplot.subplot(2, 4, 4, projection='3d')
# grid = regu_grid()
# grid.from_cube(cube, self.crop_size)
# grid.draw_map(ax, frame_h5)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
# from cv2 import resize as cv2resize
# import cv2
# img_hmap = cv2resize(img, (241, 241))
# img_hmap = (img_hmap / np.max(img_hmap)) * 255
# # fig2d, _ = mpplot.subplots()
# # ax2d = mpplot.subplot(1, 1, 1)
# # ax2d.imshow(img)
# # img_hmap = fig2data(fig2d)
# # img_hmap = (255. * img_hmap / np.max(img_hmap)).astype(int)
# # img_hmap = img_hmap / np.max(img_hmap)
# img_hmap = cv2.cvtColor(img_hmap, cv2.COLOR_GRAY2RGB)
# # x, y = np.ogrid[0:cube.sidelen, 0:cube.sidelen]
# x, y = np.mgrid[-cube.sidelen:cube.sidelen, -cube.sidelen:cube.sidelen]
# ax.plot_surface(
# # x, y, cube.sidelen,
# x, y,
# np.ones_like(x) * cube.sidelen,
# rstride=2, cstride=2,
# facecolors=img_hmap)
ax.view_init(azim=-90, elev=-75)
# axlim = cube.sidelen * 0.8
# ax.set_xlim([-axlim, axlim])
# ax.set_ylim([-axlim, axlim])
# ax.set_zlim([-axlim, axlim])
# ax.set_aspect('equal', adjustable='box')
ax.set_zlabel('depth (mm)', labelpad=15)
pose_yank = self.yanker_hmap(pose_lab_h5, resce3, self.caminfo)
diff = np.abs(pose_raw - pose_yank)
print(diff)
print(np.min(diff, axis=0), np.max(diff, axis=0))
grid = regu_grid()
grid.from_cube(cube, voxize_crop)
vxcnt_crop = frame_h5
def draw_voxel_pose(ax, poses, roll=0):
pose3d = cube.transform_center_shrink(poses)
pose2d, _ = cube.project_ortho(pose3d, roll=roll, sort=False)
pose2d *= voxize_crop
args.data_draw.draw_pose2d(
ax,
thedata,
pose2d,
)
coord = grid.slice_ortho(vxcnt_crop, roll=roll)
grid.draw_slice(ax, coord, 1.)
ax.set_xlim([0, voxize_crop])
ax.set_ylim([0, voxize_crop])
ax.set_aspect('equal', adjustable='box')
ax.invert_yaxis()
ax = mpplot.subplot(2, 4, 5)
draw_voxel_pose(ax, pose_raw, roll=0)
roll = 1
ax = mpplot.subplot(2, 4, 6)
draw_voxel_pose(ax, pose_yank, roll=roll)
from utils.image_ops import draw_vxlab
ax = mpplot.subplot(2, 4, 7)
draw_vxlab(fig, ax, vxcnt_crop, pose_lab_h5, voxize_hmap, roll=0)
ax = mpplot.subplot(2, 4, 8)
draw_vxlab(fig, ax, vxcnt_crop, pose_lab_h5, voxize_hmap, roll=roll)
# if not self.args.show_draw:
# mlab.options.offscreen = True
# else:
# mlab.figure(size=(800, 800))
# # mlab.contour3d(frame_h5)
# mlab.pipeline.volume(mlab.pipeline.scalar_field(frame_h5))
# mlab.pipeline.image_plane_widget(
# mlab.pipeline.scalar_field(frame_h5),
# plane_orientation='z_axes',
# slice_index=self.crop_size / 2)
# np.set_printoptions(precision=4)
# # print(frame_h5[12:20, 12:20, 16])
# mlab.outline()
# if not self.args.show_draw:
# mlab.options.offscreen = True
# else:
# from utils.image_ops import draw_dist3
# vxmap = np.zeros(voxize_hmap * voxize_hmap * voxize_hmap)
# vxmap[pose_lab_h5[-1].astype(int)] = 1
# vxmap = vxmap.reshape((voxize_hmap, voxize_hmap, voxize_hmap))
# draw_dist3(vxmap, voxize_crop, scale)
# mlab.draw()
# mlab.savefig(os.path.join(
# self.predict_dir,
# 'draw3d_{}_{}.png'.format(self.name_desc, img_id)))
#
fig.tight_layout()
mpplot.savefig(
os.path.join(self.predict_dir,
'draw_{}_{}.png'.format(self.name_desc, img_id)))
if self.args.show_draw:
mpplot.show()
# mlab.close(all=True)
print('[{}] drawing image #{:d} - done.'.format(
self.name_desc, img_id))
def draw_random(self, thedata, args):
with h5py.File(self.appen_train, 'r') as h5file:
store_size = h5file['index'].shape[0]
frame_id = np.random.choice(store_size)
img_id = h5file['index'][frame_id, 0]
frame_h5 = np.squeeze(h5file['frame'][frame_id, ...], -1)
poses_h5 = h5file['poses'][frame_id, ...]
resce_h5 = h5file['resce'][frame_id, ...]
frame_h5 = args.data_ops.frame_size_localizer(
frame_h5, self.caminfo)
print('[{}] drawing image #{:d} ...'.format(self.name_desc, img_id))
colors = [Color('orange').rgb, Color('red').rgb, Color('lime').rgb]
fig, _ = mpplot.subplots(nrows=2, ncols=2, figsize=(2 * 5, 2 * 5))
ax = mpplot.subplot(2, 2, 1)
mpplot.gca().set_title('test input')
annot_line = args.data_io.get_line(thedata.annotation_train, img_id)
img_name, pose_raw = args.data_io.parse_line_annot(annot_line)
img = args.data_io.read_image(os.path.join(self.image_dir, img_name))
ax.imshow(img, cmap=mpplot.cm.bone_r)
args.data_draw.draw_pose2d(ax, thedata,
args.data_ops.raw_to_2d(pose_raw, thedata))
ax = mpplot.subplot(2, 2, 3, projection='3d')
mpplot.gca().set_title('test storage read')
resce3 = resce_h5[0:4]
cube = iso_cube()
cube.load(resce3)
cube.show_dims()
points3 = args.data_ops.img_to_raw(frame_h5, thedata)
numpts = points3.shape[0]
if 1000 < numpts:
points3_sam = points3[
np.random.choice(numpts, 1000, replace=False), :]
else:
points3_sam = points3
ax.scatter(points3_sam[:, 0],
points3_sam[:, 1],
points3_sam[:, 2],
color=Color('lightsteelblue').rgb)
ax.view_init(azim=-90, elev=-75)
ax.set_zlabel('depth (mm)', labelpad=15)
args.data_draw.draw_raw3d_pose(ax, thedata, pose_raw)
corners = cube.get_corners()
iso_cube.draw_cube_wire(ax, corners)
ax = mpplot.subplot(2, 2, 4)
mpplot.gca().set_title('test output')
img_name = args.data_io.index2imagename(img_id)
img = args.data_io.read_image(os.path.join(self.image_dir, img_name))
ax.imshow(img, cmap=mpplot.cm.bone_r)
anchor_num = self.anchor_num**2
pcnt = poses_h5[:anchor_num].reshape(
(self.anchor_num, self.anchor_num))
print(pcnt)
index = np.array(np.unravel_index(np.argmax(pcnt), pcnt.shape))
anchors = poses_h5[anchor_num:]
print(index)
points2, wsizes, centre = self.yank_rect(index, anchors, self.caminfo)
print(np.append(points2, wsizes).reshape(1, -1))
rect = iso_rect(points2 - wsizes, wsizes * 2)
rect.draw(ax)
cube = iso_cube(centre.flatten(), self.region_size)
cube.show_dims()
rects = cube.proj_rects_3(args.data_ops.raw_to_2d, self.caminfo)
for ii, rect in enumerate(rects):
rect.draw(ax, colors[ii])
ax = mpplot.subplot(2, 2, 2)
mpplot.gca().set_title('test storage write')
img_name, frame, poses, resce = self.provider_worker(
annot_line, self.image_dir, thedata)
frame = args.data_ops.frame_size_localizer(frame, self.caminfo)
if ((1e-4 < np.linalg.norm(frame_h5 - frame))
or (1e-4 < np.linalg.norm(poses_h5 - poses))):
print(np.linalg.norm(frame_h5 - frame))
print(np.linalg.norm(poses_h5 - poses))
print('ERROR - h5 storage corrupted!')
ax.imshow(frame, cmap=mpplot.cm.bone_r)
resce3 = resce[0:4]
cube = iso_cube()
cube.load(resce3)
cube.show_dims()
rects = cube.proj_rects_3(args.data_ops.raw_to_2d, self.caminfo)
for ii, rect in enumerate(rects):
rect.draw(ax, colors[ii])
fig.tight_layout()
mpplot.savefig(
os.path.join(self.predict_dir,
'draw_{}_{}.png'.format(self.name_desc, img_id)))
if self.args.show_draw:
mpplot.show()
print('[{}] drawing image #{:d} - done.'.format(
self.name_desc, img_id))