def _cli(ground_truth_file, estimate_file, plot):
# pylint:disable=too-many-locals
gt_track = read_poses(ground_truth_file)
e_track = read_poses(estimate_file)
r_errors, t_errors = calc_errors(gt_track, e_track)
r_errors = np.degrees(r_errors) # pylint:disable=assignment-from-no-return
r_max = r_errors.max()
r_median = np.median(r_errors)
r_auc = calc_auc(r_errors, MAX_ROTATION_ERR_DEG)
t_max = t_errors.max()
t_median = np.median(t_errors)
t_auc = calc_auc(t_errors, MAX_TRANSLATION_ERR)
r_line_template = 'Rotation errors (degrees)' \
'\n max = {}\n median = {}\n AUC = {}'
click.echo(r_line_template.format(r_max, r_median, r_auc))
t_line_template = 'Translation errors' \
'\n max = {}\n median = {}\n AUC = {}'
click.echo(t_line_template.format(t_max, t_median, t_auc))
click.echo('Volume under surface = {}'.format(
calc_vol_under_surface(r_errors, t_errors, MAX_ROTATION_ERR_DEG)
))
if not plot:
return
import matplotlib.pyplot as plt # pylint:disable=import-outside-toplevel
plt.figure(1)
plt.subplot(2, 2, 1)
plt.plot(r_errors, 'g')
plt.xlim([0, r_errors.size])
plt.xlabel('Frame')
plt.ylabel('Rotation error (degrees)')
plt.subplot(2, 2, 2)
plt.plot(*_build_error_curve(r_errors, MAX_ROTATION_ERR_DEG), 'r')
plt.xlim([0.0, MAX_ROTATION_ERR_DEG])
plt.ylim([0.0, 1.0])
plt.xlabel('Rotation error (degrees)')
plt.ylabel('Frame rate')
plt.subplot(2, 2, 3)
plt.plot(t_errors, 'g')
plt.xlim([0, t_errors.size])
plt.xlabel('Frame')
plt.ylabel('Translation error')
plt.subplot(2, 2, 4)
plt.plot(*_build_error_curve(t_errors, MAX_TRANSLATION_ERR), 'r')
plt.xlim([0.0, MAX_TRANSLATION_ERR])
plt.ylim([0.0, 1.0])
plt.xlabel('Translation error')
plt.ylabel('Frame rate')
plt.show()
def cli(frame_sequence, camera, track_destination, point_cloud_destination,
file_to_load_corners, show, camera_poses_file, frame_1, frame_2):
"""
FRAME_SEQUENCE path to a video file or shell-like wildcard describing
multiple images\n
CAMERA intrinsic parameters of camera\n
TRACK_DESTINATION path to file for dumping result camera track\n
POINT_CLOUD_DESTINATION path to file for dumping result point cloud
"""
sequence = frameseq.read_grayscale_f32(frame_sequence)
if file_to_load_corners is not None:
corner_storage = load(file_to_load_corners)
else:
corner_storage = build(sequence)
if camera_poses_file is not None and frame_1 is not None and frame_2 is not None:
known_camera_poses = read_poses(camera_poses_file)
known_view_1 = frame_1, known_camera_poses[frame_1]
known_view_2 = frame_2, known_camera_poses[frame_2]
else:
known_view_1 = None
known_view_2 = None
camera_parameters = read_camera_parameters(camera)
poses, point_cloud = track_and_calc_colors(
camera_parameters,
corner_storage,
frame_sequence,
known_view_1,
known_view_2
)
write_poses(poses, track_destination)
write_point_cloud(point_cloud, point_cloud_destination)
if show:
click.echo(
"Press 'q' to stop, 'd' to go forward, 'a' to go backward, "
"'r' to restart"
)
frame = 0
while True:
grayscale = sequence[frame]
bgra = draw_residuals(grayscale, corner_storage[frame],
point_cloud, camera_parameters,
poses[frame])
cv2.imshow('Frame', bgra)
key = chr(cv2.waitKey(20) & 0xFF)
if key == 'r':
frame = 0
if key == 'a' and frame > 0:
frame -= 1
if key == 'd' and frame + 1 < len(corner_storage):
frame += 1
if key == 'q':
break
def cli(camera_parameters, poses, point_cloud):
script_path = os.path.abspath(os.path.dirname(__file__))
camera_model_files = (os.path.join(script_path,
'camera_model/geometry.obj'),
os.path.join(script_path,
'camera_model/texture.jpg'))
renderer = CameraTrackRendererApp(
camera_model_files, read_camera_parameters(camera_parameters),
read_poses(poses), read_point_cloud(point_cloud))
renderer.show()
def _read_ground_truth(ground_truth_path):
with open(ground_truth_path, 'r') as gt_file:
return data3d.read_poses(gt_file)
