def __init__(self, args, multilane_npz): self.args = args lanes_npz = np.load(multilane_npz) self.num_lanes = lanes_npz['num_lanes'] self.lanes = [None for x in range(self.num_lanes)] for i in xrange(self.num_lanes): self.lanes[i] = DataTree(lanes_npz['lane' + str(i)]) self.imu, _, _ = get_transforms(args) self.pos = self.imu[:, :3, 3]
def __init__(self): args = parse_args(sys.argv[1], sys.argv[2]) planar = glob.glob(sys.argv[1] + '/*_planar.npz')[0] npz = np.load(planar) self.planes = npz['planes'] (self.imu_transforms_mk1, self.gps_data_mk1, self.gps_times_mk1) = get_transforms(args, 'mark1') (self.imu_transforms_mk2, self.gps_data_mk2, self.gps_times_mk2) = get_transforms(args, 'mark2') self.back_projector = BackProjector(args) self.vr = VideoReader(args['video']) self.t = 1 cv2.namedWindow('image', cv2.WINDOW_AUTOSIZE) cv2.setMouseCallback('image', self.mouseHandler) self.lanes = None self.markings = None
def __init__(self): if len(sys.argv) <= 2 or '--help' in sys.argv: print """Usage: {name} folder/ video.avi """.format(name = sys.argv[0]) sys.exit(-1) args = parse_args(sys.argv[1], sys.argv[2]) self.args = args bg_file = glob.glob(args['fullname'] + '*bg.npz')[0] print sys.argv self.small_step = 5 self.large_step = 10 self.startup_complete = False ##### Grab all the transforms ###### self.absolute = False (self.imu_transforms_mk1, self.gps_data_mk1, self.gps_times_mk1) = get_transforms(args, 'mark1', self.absolute) (self.imu_transforms_mk2, self.gps_data_mk2, self.gps_times_mk2) = get_transforms(args, 'mark2', self.absolute) self.mk2_t = 0 self.t = self.mk2_to_mk1() self.cur_imu_transform = self.imu_transforms_mk1[self.t, :,:] self.imu_kdtree = cKDTree(self.imu_transforms_mk1[:, :3, 3]) self.params = args['params'] self.lidar_params = self.params['lidar'] self.T_from_i_to_l = np.linalg.inv(self.lidar_params['T_from_l_to_i']) cam_num = args['cam_num'] self.cam_params = self.params['cam'][cam_num] # Load the MobilEye file self.mbly_loader = MblyLoader(args) self.mbly_rot = [0.0, -0.005, -0.006] self.mbly_T = [5.4, 0.0, -1.9] # Is the flyover running self.running = False # Has the user changed the time self.manual_change = 0 ###### Set up the renderers ###### self.cloud_ren = vtk.vtkRenderer() self.cloud_ren.SetViewport(0, 0, 1.0, 1.0) self.cloud_ren.SetBackground(0, 0, 0) self.img_ren = vtk.vtkRenderer() # self.img_ren.SetViewport(0.7, 0.0, 1.0, 0.37) self.img_ren.SetViewport(0.6, 0.6, 1.0, 1.0) self.img_ren.SetInteractive(False) self.img_ren.SetBackground(0.1, 0.1, 0.1) self.win = vtk.vtkRenderWindow() self.win.StereoCapableWindowOff() self.win.AddRenderer(self.cloud_ren) self.win.AddRenderer(self.img_ren) self.win.SetSize(800, 400) self.iren = vtk.vtkRenderWindowInteractor() self.iren.SetRenderWindow(self.win) ###### Cloud Actors ###### print 'Adding raw points' raw_npz = np.load(bg_file) pts = raw_npz['data'] raw_cloud = VtkPointCloud(pts[:, :3], np.ones(pts[:, :3].shape) * 255) raw_actor = raw_cloud.get_vtk_color_cloud() self.raw_lidar = VTKCloudTree(raw_cloud, raw_actor, build_tree=False) self.raw_lidar_2d = DataTree(self.raw_lidar.pts[:, :-1], build_tree=False) self.raw_lidar.actor.GetProperty().SetPointSize(2) self.raw_lidar.actor.GetProperty().SetOpacity(0.1) self.raw_lidar.actor.SetPickable(0) self.cloud_ren.AddActor(self.raw_lidar.actor) print 'Adding car' self.car = load_ply('../mapping/viz/gtr.ply') self.car.SetPickable(0) self.car.GetProperty().LightingOff() self.cloud_ren.AddActor(self.car) self.mbly_vtk_boxes = [] # Car: 0, Truck: 1, Bike: 2, Other: 3-7 red = np.array((1, 0, 0)) green = np.array((0, 1, 0)) blue = np.array((0, 0, 1)) white = red+green+blue self.mbly_obj_colors = [red, green, blue, white] self.mbly_vtk_lanes = [] # Dashed: 0, Solid: 1, undecided: 2, Edge: 3, Double: 4, Botts_Dots: 5 self.mbly_lane_color = [green, green, red, blue, white, green] self.mbly_lane_size = [2, 3, 1, 1, 2, 1] self.mbly_lane_subsamp = [20, 1, 1, 1, 1, 40] # Use our custom mouse interactor self.interactor = LaneInteractorStyle(self.iren, self.cloud_ren, self) self.iren.SetInteractorStyle(self.interactor) ###### 2D Projection Actors ###### self.video_reader = VideoReader(args['video']) self.img_actor = None self.I = None ###### Add Callbacks ###### print 'Rendering' self.iren.Initialize() # Set up time self.iren.AddObserver('TimerEvent', self.update) self.timer = self.iren.CreateRepeatingTimer(10) self.iren.Start()
def __init__(self): if len(sys.argv) <= 2 or '--help' in sys.argv: print """Usage: {name} folder/ video.avi """.format(name=sys.argv[0]) sys.exit(-1) args = parse_args(sys.argv[1], sys.argv[2]) self.args = args bg_file = glob.glob(args['fullname'] + '*bg.npz')[0] print sys.argv self.small_step = 5 self.large_step = 10 self.startup_complete = False ##### Grab all the transforms ###### self.absolute = False (self.imu_transforms_mk1, self.gps_data_mk1, self.gps_times_mk1) = get_transforms(args, 'mark1', self.absolute) (self.imu_transforms_mk2, self.gps_data_mk2, self.gps_times_mk2) = get_transforms(args, 'mark2', self.absolute) self.mk2_t = 0 self.t = self.mk2_to_mk1() self.cur_imu_transform = self.imu_transforms_mk1[self.t, :, :] self.imu_kdtree = cKDTree(self.imu_transforms_mk1[:, :3, 3]) self.params = args['params'] self.lidar_params = self.params['lidar'] self.T_from_i_to_l = np.linalg.inv(self.lidar_params['T_from_l_to_i']) cam_num = args['cam_num'] self.cam_params = self.params['cam'][cam_num] # Load the MobilEye file self.mbly_loader = MblyLoader(args) self.mbly_rot = [0.0, -0.005, -0.006] self.mbly_T = [5.4, 0.0, -1.9] # Is the flyover running self.running = False # Has the user changed the time self.manual_change = 0 ###### Set up the renderers ###### self.cloud_ren = vtk.vtkRenderer() self.cloud_ren.SetViewport(0, 0, 1.0, 1.0) self.cloud_ren.SetBackground(0, 0, 0) self.img_ren = vtk.vtkRenderer() # self.img_ren.SetViewport(0.7, 0.0, 1.0, 0.37) self.img_ren.SetViewport(0.6, 0.6, 1.0, 1.0) self.img_ren.SetInteractive(False) self.img_ren.SetBackground(0.1, 0.1, 0.1) self.win = vtk.vtkRenderWindow() self.win.StereoCapableWindowOff() self.win.AddRenderer(self.cloud_ren) self.win.AddRenderer(self.img_ren) self.win.SetSize(800, 400) self.iren = vtk.vtkRenderWindowInteractor() self.iren.SetRenderWindow(self.win) ###### Cloud Actors ###### print 'Adding raw points' raw_npz = np.load(bg_file) pts = raw_npz['data'] raw_cloud = VtkPointCloud(pts[:, :3], np.ones(pts[:, :3].shape) * 255) raw_actor = raw_cloud.get_vtk_color_cloud() self.raw_lidar = VTKCloudTree(raw_cloud, raw_actor, build_tree=False) self.raw_lidar_2d = DataTree(self.raw_lidar.pts[:, :-1], build_tree=False) self.raw_lidar.actor.GetProperty().SetPointSize(2) self.raw_lidar.actor.GetProperty().SetOpacity(0.1) self.raw_lidar.actor.SetPickable(0) self.cloud_ren.AddActor(self.raw_lidar.actor) print 'Adding car' self.car = load_ply('../mapping/viz/gtr.ply') self.car.SetPickable(0) self.car.GetProperty().LightingOff() self.cloud_ren.AddActor(self.car) self.mbly_vtk_boxes = [] # Car: 0, Truck: 1, Bike: 2, Other: 3-7 red = np.array((1, 0, 0)) green = np.array((0, 1, 0)) blue = np.array((0, 0, 1)) white = red + green + blue self.mbly_obj_colors = [red, green, blue, white] self.mbly_vtk_lanes = [] # Dashed: 0, Solid: 1, undecided: 2, Edge: 3, Double: 4, Botts_Dots: 5 self.mbly_lane_color = [green, green, red, blue, white, green] self.mbly_lane_size = [2, 3, 1, 1, 2, 1] self.mbly_lane_subsamp = [20, 1, 1, 1, 1, 40] # Use our custom mouse interactor self.interactor = LaneInteractorStyle(self.iren, self.cloud_ren, self) self.iren.SetInteractorStyle(self.interactor) ###### 2D Projection Actors ###### self.video_reader = VideoReader(args['video']) self.img_actor = None self.I = None ###### Add Callbacks ###### print 'Rendering' self.iren.Initialize() # Set up time self.iren.AddObserver('TimerEvent', self.update) self.timer = self.iren.CreateRepeatingTimer(10) self.iren.Start()