from vo_core.track_preprocess import convert_rel_vo
''' Configuration ------------------------------------------------------------------------------------------------------
'''
base_dir = '/home/ziqianb/Desktop/intel'
seq_name = 'apartment'
frames = FrameSeqData(os.path.join(base_dir, seq_name, 'seq.json'))
refer_T = frames.get_Tcw(frames.frames[0])
convert_rel_vo(frames, refer_T)
in_intrinsic = np.asarray([525.0, 525.0, 320.0, 240.0], dtype=np.float32)
in_K = cam_opt.K_from_intrinsic(in_intrinsic)
''' Scripts ------------------------------------------------------------------------------------------------------------
'''
plot_frames_seq_2d(frames, show_view_direction=True)
plt.show()
vis = Visualizer()
frame_idx = 0
x_2d = cam_opt.x_2d_coords(int(in_intrinsic[3] * 2), int(in_intrinsic[2] * 2))
# x_2d = cam_opt.x_2d_coords(480, 640)
def keyPressEvent(obj, event):
global frame_idx
global refer_T
key = obj.GetKeySym()
if key == 'Right':
# vis.clear_frame_poses()
# if frame_idx > 30:
# If the subset is less than setting, ignore
if len(sub_frames) >= frames_per_subseq_num:
sub_seq_list.append(sub_frames)
print('sel: %d', len(sub_seq_list))
return sub_seq_list
if __name__ == '__main__':
ori_seq_json_path = '/home/luwei/mnt/Tango/ziqianb/SUN3D/seq.json'
ori_seq = FrameSeqData(ori_seq_json_path)
sub_seq_list = rand_sel_subseq_sun3d(ori_seq, trans_thres_range=0.2, rot_thres=15.0, max_subseq_num=20, frames_per_subseq_num=5)
# out_sub_seq_list = []
# for seq in sub_seq_list:
# frame_instances = copy.deepcopy(seq.frames)
# for frame in frame_instances:
# frame['extrinsic_Tcw'] = frame['extrinsic_Tcw'].ravel().tolist()
# frame['camera_intrinsic'] = frame['camera_intrinsic'].ravel().tolist()
# out_sub_seq_list.append(frame_instances)
# with open('/home/luwei/mnt/Tango/ziqianb/SUN3D/seq_list.json', 'w') as out_json_file:
# json.dump(out_sub_seq_list, out_json_file, indent=2)
# Show 2D seq
plt.figure()
ax = plt.gca()
plot_frames_seq_2d(ori_seq, ax, legend='all')
for sub_seq in sub_seq_list:
plot_frames_seq_2d(sub_seq, ax)
plt.show()
# Toggle to show 2D seq map instead of image sequences
show_2d_path = True
# Load the original frame and random sample subset
ori_seq = frame_seq_data.FrameSeqData(ori_seq_json_path)
# sub_seq_list = seq_data.random_sel_frames.rand_sel_subseq(scene_frames=ori_seq,
# trans_thres=0.15,
# frames_per_subseq_num=10,
# frames_range=(0.00, 0.8),
# max_subseq_num=30,
# interval_skip_frames=2)
''' Scripts -----------------------------------------------------------------------------------------------------------
'''
if show_2d_path:
plt.figure()
ax = plt.gca()
plt_seq.plot_frames_seq_2d(ori_seq, ax, legend='all')
# for sub_seq in sub_seq_list:
# plt_seq.plot_frames_seq_2d(sub_seq, ax, point_style='x-')
plt.show()
else:
pass
# for seq in sub_seq_list:
# img_list = []
# for frame in seq.frames:
# cur_name = frame['file_name']
# cur_frame_idx = frame['id']
# cur_img = cv2.imread(os.path.join(base_dir, cur_name)).astype(np.float32) / 255.0
# img_list.append({'img': cur_img, "title": cur_frame_idx})
# show_multiple_img(img_list)
show_2d_path = True
# Load the original frame and random sample subset
ori_seq = frame_seq_data.FrameSeqData(ori_seq_json_path)
sub_seq_list = seq_data.random_sel_frames.rand_sel_subseq_sun3d(
scene_frames=ori_seq,
trans_thres_range=0.15,
frames_per_subseq_num=10,
frames_range=(0.00, 0.8),
max_subseq_num=30,
interval_thres=2)
''' Scripts -----------------------------------------------------------------------------------------------------------
'''
if show_2d_path:
plt.figure()
ax = plt.gca()
plt_seq.plot_frames_seq_2d(ori_seq, ax, legend='all')
for sub_seq in sub_seq_list:
plt_seq.plot_frames_seq_2d(sub_seq, ax, point_style='x-')
plt.show()
else:
for seq in sub_seq_list:
img_list = []
for frame in seq.frames:
cur_name = frame['file_name']
cur_frame_idx = frame['id']
cur_img = cv2.imread(os.path.join(base_dir, cur_name)).astype(
np.float32) / 255.0
img_list.append({'img': cur_img, "title": cur_frame_idx})
show_multiple_img(img_list)