def draw_normal_map(path, size):
'''
Draw a spherical normal map for visualizations
'''
# White backdrop
im = np.full((size, size, 3), 255, np.uint8)
center = size//2
light = np.r_[0,0,1.0]
ng = np.r_[0,0,1.0]
for i in range(size):
di = i - center
for j in range(size):
dj = j - center
r = sqrt(di*di + dj*dj)
if r > center:
continue
r_norm = r/center
phi = np.arccos(r_norm)
theta = -np.arctan2(dj, di)
nx = cos(theta)*cos(phi)
ny = sin(theta)*cos(phi)
nz = sin(phi)
mag = sqrt(nx*nx + ny*ny + nz*nz)
normal = np.r_[nx/mag, -ny/mag, nz/mag]
color = normal_shade(light, ng, normal)
im[i,j] = color
IO.imshow(im)
pynutmeg.wait_for_nutmeg()
IO.imwrite(path, im)
return im
def test_contours_rgb():
import Edge_Tracker
seq = 'data/synth/plant_out'
out_d = os.path.join(seq, 'outlines_out')
IO.imshow(zeros((3, 3, 3), np.uint8))
try:
os.makedirs(out_d)
except FileExistsError:
pass
h, w = 360, 640
cam = Geom.cam_params(f=29.9, sw=35.0, w=w, h=h)
fx, fy, cx, cy = cam
def to_homogenious(pts):
N = pts.shape[0]
out = empty((N, 3))
out[:, 2] = 1
out[:, 0] = (pts[:, 0] - cx) * (1 / fx)
out[:, 1] = (pts[:, 1] - cy) * (1 / fy)
return out
def from_homogenious(pts):
x = (fx * pts[:, 0] + cx).astype(int)
y = (fy * pts[:, 1] + cy).astype(int)
return x, y
i = 0
contour_set = []
normal_set = []
P_last = None
pose = zeros(6)
try:
for im, D in load_datas(seq, imext='png'):
print("Frame {}".format(i))
P, normals, edge_map = find_contours_rgb(im, D)
P_hom = to_homogenious(P)
H, W = im.shape[:2]
if P_last is not None:
P_tr, pose, tree = Edge_Tracker.align(P_last, P_hom, pose=pose)
P_tr = from_homogenious(P_tr)
np.clip(P_tr[0], 0, W - 1, out=P_tr[0])
np.clip(P_tr[1], 0, H - 1, out=P_tr[1])
align = np.zeros_like(im)
last_u, last_v = from_homogenious(P_last)
align[P[:, 1], P[:, 0], 2] = 255
align[last_v, last_u, 1] = 255
align[P_tr[1], P_tr[0], 0] = 255
IO.imshow(align, "align")
# outlines, contours, normals = find_contours_rgb(im, D, snakes=False)
# imio.imsave(os.path.join(out_d, "{:04d}.png".format(i)), outlines.astype(np.uint16)*2**3)
# contour_set.append(contours)
# normal_set.append(normals)
# time.sleep(1)
P_last = P_hom
i += 1
except Exception as e:
print(e)
raise
np.savez(os.path.join(seq, 'contours.npz'),
contours=contour_set,
normals=normal_set)