def build_voxel_grid(seq, sub):
cloudpath = os.path.join(seq, sub)
cloud = RayCloud.load(cloudpath)
# Reassign transforms
Rt_path = os.path.join(seq, 'tracking.csv')
R, t, times, valid = IO.read_tracking(Rt_path)
# R, t = IO.read_Rt(os.path.join(seq, 'opti_aligned_Rt.npz'))
cloud.set_poses(R, t)
frames, boxes = IO.read_rects( os.path.join(seq, 'rects.yaml') )
cloud.apply_bounding_boxes(frames, boxes)
cloud.save(cloudpath)
voxel_dir = os.path.join(seq, sub + '_voxel')
print("Building ray voxel grid")
bbox_min, bbox_max = cloud.bbox_min, cloud.bbox_max
size = 1.2*(bbox_max - bbox_min)
center = 0.5*(bbox_max + bbox_min)
Cs, Qs, Ns = cloud.global_rays()
print("Making...", cloud.N, Cs.shape)
raygrid = make_raygrid_info(center, size, Cs, Qs, cloud.labels_frame, showinfo=True)
print("Saving ray voxels...")
RayVoxel.save(voxel_dir, raygrid)
def extract_rays(seq, sub, skip=2, max_frame=None, imtype='png'):
edge_dir = os.path.join(seq, 'edges', '*.'+imtype)
paths = glob.glob(edge_dir)
paths.sort()
F = len(paths)
cam = IO.read_cam_param( os.path.join(seq, 'cam.yaml') )
Rt_path = os.path.join(seq, 'tracking.csv')
R, t, times, valid = IO.read_tracking(Rt_path)
valid_bool = zeros(len(R), bool)
valid_bool[valid] = True
cloud = RayCloud.RayCloud()
cloud.set_cam(cam)
cloud.set_poses(R, t)
fig = pynutmeg.figure('segments', 'figs/segments.qml')
if max_frame is None:
max_frame = F
print("Estimating bounding box volume from labels")
frames, boxes = IO.read_rects( os.path.join(seq, 'rects.yaml') )
cloud.apply_bounding_boxes(frames, boxes)
print("Extracting Edge Rays")
for f in range(0, max_frame, skip):
if not valid_bool[f]:
continue
print("\r\tFrame: {} of {}".format(f, F), end=' '*16, flush=True)
E = IO.imread( paths[f] )
pts, labels = Contours.find_contours_edge(E, low=20, high=35, min_length=30)
im = np.empty_like(E)
im[:] = 255
im[pts[:,1], pts[:,0]] = 0
# TODO: Maybe put the next 2 into the one function. This is fine for now though
pts, labels = Contours.simplify_labeled(pts, labels, eps=1.5)
tangents, labels = Contours.segment_tangents(pts, labels, thresh=35.)
# fig.set('ax.im', binary=255-E)
fig.set('ax.im', binary=im)
cloud.add_pixels(pts, tangents, f, labels)
print("\nSaving ray cloud...")
cloud.save( os.path.join(seq, sub) )