def single_image_histograms(): url = 'https://www.dropbox.com/s/bzezpw8ivlfu4b0/frame0002.jpg?dl=0' p = os.path.join(get_ros_package_path('line_detector2'), 'include', 'line_detector2_tests', 'frame0002.jpg') download_if_not_exist(url, p) image_cv = image_cv_from_jpg_fn(p) res = go(image_cv) write_images_as_jpegs('single_image_histograms', res)
def single_image1(): url = 'https://www.dropbox.com/s/bzezpw8ivlfu4b0/frame0002.jpg?dl=0' p = get_file_from_url(url) image_cv = image_cv_from_jpg_fn(p) line_detector_name = 'baseline' image_prep_name = 'prep_200_100' res = run_pipeline(image_cv, line_detector_name, image_prep_name) write_jpgs_to_dir(res, 'single_image1')
def run_detection(transform, jpg, out, shape, interpolation, name, LineDetectorClass): image = image_cv_from_jpg_fn(jpg) image = cv2.resize(image, shape, interpolation=interpolation) # bgr = bgr[bgr.shape[0] / 2:, :, :] image_detections = line_detection(LineDetectorClass, image) transformed = transform(image) transformed_clipped = image_clip_255(transformed) transformed_detections = line_detection(LineDetectorClass, transformed_clipped) if not os.path.exists(out): os.makedirs(out) bn = os.path.splitext(os.path.basename(jpg))[0] def write(postfix, im): fn = os.path.join(out, '%s.%s.%s.png' % (bn, name, postfix)) cv2.imwrite(fn, zoom_image(im, 4)) together = make_images_grid( [ image, # transformed, merge_masks_res(image_detections), gray2rgb(image_detections['edges']), image_detections['annotated'], transformed_clipped, merge_masks_res(transformed_detections), gray2rgb(transformed_detections['edges']), transformed_detections['annotated'], ], cols=4, pad=35, bgcolor=[1, 1, 1]) # write the string "name" in the upper left of image together cv2.putText(together, name, (0, 20), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2) return together
def run_detection(transform, jpg, out, shape, interpolation, name, LineDetectorClass): image = image_cv_from_jpg_fn(jpg) image = cv2.resize(image, shape, interpolation=interpolation) # bgr = bgr[bgr.shape[0] / 2:, :, :] image_detections = line_detection(LineDetectorClass, image) transformed = transform(image) transformed_clipped = image_clip_255(transformed) transformed_detections = line_detection(LineDetectorClass, transformed_clipped) if not os.path.exists(out): os.makedirs(out) bn = os.path.splitext(os.path.basename(jpg))[0] def write(postfix, im): fn = os.path.join(out, "%s.%s.%s.png" % (bn, name, postfix)) cv2.imwrite(fn, zoom_image(im, 4)) together = make_images_grid( [ image, # transformed, merge_masks_res(image_detections), gray2rgb(image_detections["edges"]), image_detections["annotated"], transformed_clipped, merge_masks_res(transformed_detections), gray2rgb(transformed_detections["edges"]), transformed_detections["annotated"], ], cols=4, pad=35, bgcolor=[1, 1, 1], ) # write the string "name" in the upper left of image together cv2.putText(together, name, (0, 20), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2) return together
def go(self): line_detector = self.options.line_detector image_prep = self.options.image_prep self.info('Line detector: %s' % line_detector) self.info('image_prep: %s' % image_prep) image_filename = self.options.image if image_filename.startswith('http'): image_filename = get_file_from_url(image_filename) image_cv = image_cv_from_jpg_fn(image_filename) res = run_pipeline(image_cv, line_detector, image_prep) output = self.options.output if output is None: output = 'out-pipeline-' + get_md5(self.options.image)[:6] self.info('No --output given, using %s' % output) write_jpgs_to_dir(res, output)
def examine_dataset(dirname, out): logger.info(dirname) dirname = expand_environment(dirname) jpgs = locate_files(dirname, "*.jpg") mats = locate_files(dirname, "*.mat") logger.debug("I found %d jpgs and %d mats" % (len(jpgs), len(mats))) if len(jpgs) == 0: msg = "Not enough jpgs." raise ValueError(msg) # if len(mats) == 0: # msg = 'Not enough mats.' # raise ValueError(msg) first_jpg = sorted(jpgs)[0] logger.debug("Using jpg %r to learn transformation." % first_jpg) first_jpg_image = image_cv_from_jpg_fn(first_jpg) success, health, parameters = calculate_transform(first_jpg_image) s = "" s += "success: %s\n" % str(success) s += "health: %s\n" % str(health) s += "parameters: %s\n" % str(parameters) w = os.path.join(out, "learned_transform.txt") with open(w, "w") as f: f.write(s) logger.info(s) transform = ScaleAndShift(**parameters) config_dir = "${DUCKIETOWN_ROOT}/catkin_ws/src/duckietown/config/baseline/line_detector/line_detector_node/" config_dir = expand_environment(config_dir) configurations = locate_files(config_dir, "*.yaml") # logger.info('configurations: %r' % configurations) for j in jpgs: summaries = [] shape = (200, 160) interpolation = cv2.INTER_NEAREST bn = os.path.splitext(os.path.basename(j))[0] fn = os.path.join(out, "%s.all.png" % (bn)) if os.path.exists(fn): logger.debug("Skipping because file exists: %r" % fn) else: for c in configurations: logger.info("Trying %r" % c) name = os.path.splitext(os.path.basename(c))[0] if name in ["oreo", "myrtle", "bad_lighting", "226-night"]: continue with open(c) as f: stuff = yaml.load(f) if not "detector" in stuff: msg = 'Cannot find "detector" section in %r' % c raise ValueError(msg) detector = stuff["detector"] logger.info(detector) if not isinstance(detector, list) and len(detector) == 2: raise ValueError(detector) from duckietown_utils.instantiate_utils import instantiate def LineDetectorClass(): return instantiate(detector[0], detector[1]) s = run_detection( transform, j, out, shape=shape, interpolation=interpolation, name=name, LineDetectorClass=LineDetectorClass, ) summaries.append(s) together = make_images_grid(summaries, cols=1, pad=10, bgcolor=[0.5, 0.5, 0.5]) cv2.imwrite(fn, zoom_image(together, 4)) # ipython_if_guy() overall_results = [] comparison_results = {} for m in mats: logger.debug(m) jpg = os.path.splitext(m)[0] + ".jpg" if not os.path.exists(jpg): msg = "JPG %r for mat %r does not exist" % (jpg, m) logger.error(msg) else: frame_results = test_pair(transform, jpg, m, out) comparison_results[m] = frame_results overall_results = merge_comparison_results(comparison_results[m], overall_results) print "comparison_results[m]=frame_results" # ipython_if_guy() print "finished mats: " + dirname return overall_results
def test_pair(transform, jpg, mat, out): """ jpg = filename mat = filename """ data = scipy.io.loadmat(mat) regions = data["regions"].flatten() max_type = 0 for r in regions: max_type = max(max_type, r["type"][0][0][0][0]) r_vals = {} for t in np.arange(max_type): r_vals[t + 1] = np.array([], "float32") g_vals = copy.deepcopy(r_vals) b_vals = copy.deepcopy(r_vals) h_vals = copy.deepcopy(r_vals) s_vals = copy.deepcopy(r_vals) v_vals = copy.deepcopy(r_vals) result_stats = { "average_abs_err": [], "total_pixels": 0, "total_error": 0, "total_regions": 0, "r_vals": r_vals, "g_vals": g_vals, "b_vals": b_vals, "h_vals": h_vals, "s_vals": s_vals, "v_vals": v_vals, } for r in regions: logger.info("region") x = r["x"][0][0].flatten() y = r["y"][0][0].flatten() mask = r["mask"][0][0] mask3 = cv2.merge([mask, mask, mask]) print "x", x print "y", y print "mask shape", mask.shape print "type", r["type"][0][0][0][ 0 ] # type in 1- based / matlab-based indices from the list of region types (i.e road, white, yellow, red, or what ever types were annotated) print "color", r["color"][0] # color in [r,g,b] where [r,g,b]are between 0 and 1 t = r["type"][0][0][0][0] # print 'guy look here' region_color = r["color"][0] region_color = region_color[0][0] rval = region_color[0] * 255.0 gval = region_color[1] * 255.0 bval = region_color[2] * 255.0 image = image_cv_from_jpg_fn(jpg) transformed = transform(image) [b2, g2, r2] = cv2.split(transformed) thsv = cv2.cvtColor(transformed, cv2.cv.CV_BGR2HSV) [h2, s2, v2] = cv2.split(thsv) r2_ = r2[mask.nonzero()] g2_ = g2[mask.nonzero()] b2_ = b2[mask.nonzero()] h2_ = h2[mask.nonzero()] s2_ = s2[mask.nonzero()] v2_ = v2[mask.nonzero()] # ipython_if_guy() result_stats["r_vals"][t] = np.concatenate((result_stats["r_vals"][t], r2_), 0) result_stats["g_vals"][t] = np.concatenate((result_stats["g_vals"][t], g2_), 0) result_stats["b_vals"][t] = np.concatenate((result_stats["b_vals"][t], b2_), 0) result_stats["h_vals"][t] = np.concatenate((result_stats["h_vals"][t], h2_), 0) result_stats["s_vals"][t] = np.concatenate((result_stats["s_vals"][t], s2_), 0) result_stats["v_vals"][t] = np.concatenate((result_stats["v_vals"][t], v2_), 0) absdiff_img = cv2.absdiff(transformed, np.array([bval, gval, rval, 0.0])) masked_diff = cv2.multiply(np.array(absdiff_img, "float32"), np.array(mask3, "float32")) num_pixels = cv2.sumElems(mask)[0] region_error = cv2.sumElems(cv2.sumElems(masked_diff))[0] avg_abs_err = region_error / (num_pixels + 1.0) print "Average abs. error", avg_abs_err result_stats["average_abs_err"].append(avg_abs_err) result_stats["total_pixels"] = result_stats["total_pixels"] + num_pixels result_stats["total_error"] = result_stats["total_error"] + region_error result_stats["total_regions"] = result_stats["total_regions"] + 1 # XXX: to finish return result_stats
def examine_dataset(dirname, out): logger.info(dirname) dirname = expand_all(dirname) jpgs = locate_files(dirname, '*.jpg') mats = locate_files(dirname, '*.mat') logger.debug('I found %d JPGs and %d .mat.' % (len(jpgs), len(mats))) if len(jpgs) == 0: msg = 'Not JPGs found in %r.' % dirname raise ValueError(msg) # if len(mats) == 0: # msg = 'Not enough mats.' # raise ValueError(msg) first_jpg = sorted(jpgs)[0] logger.debug('Using jpg %r to learn transformation.' % first_jpg) first_jpg_image = image_cv_from_jpg_fn(first_jpg) success, health, parameters = calculate_transform(first_jpg_image) s = "" s += 'success: %s\n' % str(success) s += 'health: %s\n' % str(health) s += 'parameters: %s\n' % str(parameters) w = os.path.join(out, 'learned_transform.txt') with open(w, 'w') as f: f.write(s) logger.info(s) transform = ScaleAndShift(**parameters) duckietown_package_dir = get_ros_package_path('duckietown') config_dir = os.path.join( duckietown_package_dir, 'config/baseline/line_detector/line_detector_node') if not os.path.exists(config_dir): msg = 'Could not find configuration dir %s' % config_dir raise Exception(msg) config_dir = expand_all(config_dir) configurations = locate_files(config_dir, '*.yaml') if not configurations: msg = 'Could not find any configuration file in %s.' % config_dir raise Exception(msg) #logger.info('configurations: %r' % configurations) for j in jpgs: summaries = [] shape = (200, 160) interpolation = cv2.INTER_NEAREST bn = os.path.splitext(os.path.basename(j))[0] fn = os.path.join(out, '%s.all.png' % (bn)) if os.path.exists(fn): logger.debug('Skipping because file exists: %r' % fn) else: for c in configurations: logger.info('Trying %r' % c) name = os.path.splitext(os.path.basename(c))[0] if name in ['oreo', 'myrtle', 'bad_lighting', '226-night']: continue with open(c) as f: stuff = yaml.load(f) if not 'detector' in stuff: msg = 'Cannot find "detector" section in %r' % c raise ValueError(msg) detector = stuff['detector'] logger.info(detector) if not isinstance(detector, list) and len(detector) == 2: raise ValueError(detector) def LineDetectorClass(): return instantiate(detector[0], detector[1]) s = run_detection(transform, j, out, shape=shape, interpolation=interpolation, name=name, LineDetectorClass=LineDetectorClass) summaries.append(s) together = make_images_grid(summaries, cols=1, pad=10, bgcolor=[.5, .5, .5]) cv2.imwrite(fn, zoom_image(together, 4)) overall_results = [] comparison_results = {} for m in mats: logger.debug(m) jpg = os.path.splitext(m)[0] + '.jpg' if not os.path.exists(jpg): msg = 'JPG %r for mat %r does not exist' % (jpg, m) logger.error(msg) else: frame_results = test_pair(transform, jpg, m, out) comparison_results[m] = frame_results overall_results = merge_comparison_results(comparison_results[m], overall_results) print "comparison_results[m]=frame_results" print "finished mats: " + dirname return overall_results
def test_pair(transform, jpg, mat, out): """ jpg = filename mat = filename """ data = scipy.io.loadmat(mat) regions = data['regions'].flatten() max_type = 0 for r in regions: max_type = max(max_type, r['type'][0][0][0][0]) r_vals = {} for t in np.arange(max_type): r_vals[t + 1] = np.array([], 'float32') g_vals = copy.deepcopy(r_vals) b_vals = copy.deepcopy(r_vals) h_vals = copy.deepcopy(r_vals) s_vals = copy.deepcopy(r_vals) v_vals = copy.deepcopy(r_vals) result_stats = { 'average_abs_err': [], 'total_pixels': 0, 'total_error': 0, 'total_regions': 0, 'r_vals': r_vals, 'g_vals': g_vals, 'b_vals': b_vals, 'h_vals': h_vals, 's_vals': s_vals, 'v_vals': v_vals } for r in regions: logger.info('region') x = r['x'][0][0].flatten() y = r['y'][0][0].flatten() mask = r['mask'][0][0] mask3 = cv2.merge([mask, mask, mask]) print 'x', x print 'y', y print 'mask shape', mask.shape # type in 1- based / matlab-based indices from the list of region types (i.e road, white, # yellow, red, or what ever types were annotated) print 'type', r['type'][0][0][0][0] # color in [r,g,b] where [r,g,b]are between 0 and 1 print 'color', r['color'][0] t = r['type'][0][0][0][0] # print 'guy look here' region_color = r['color'][0] region_color = region_color[0][0] rval = region_color[0] * 255. gval = region_color[1] * 255. bval = region_color[2] * 255. image = image_cv_from_jpg_fn(jpg) transformed = transform(image) [b2, g2, r2] = cv2.split(transformed) thsv = cv2.cvtColor(transformed, cv2.COLOR_BGR2HSV) [h2, s2, v2] = cv2.split(thsv) r2_ = r2[mask.nonzero()] g2_ = g2[mask.nonzero()] b2_ = b2[mask.nonzero()] h2_ = h2[mask.nonzero()] s2_ = s2[mask.nonzero()] v2_ = v2[mask.nonzero()] result_stats['r_vals'][t] = np.concatenate( (result_stats['r_vals'][t], r2_), 0) result_stats['g_vals'][t] = np.concatenate( (result_stats['g_vals'][t], g2_), 0) result_stats['b_vals'][t] = np.concatenate( (result_stats['b_vals'][t], b2_), 0) result_stats['h_vals'][t] = np.concatenate( (result_stats['h_vals'][t], h2_), 0) result_stats['s_vals'][t] = np.concatenate( (result_stats['s_vals'][t], s2_), 0) result_stats['v_vals'][t] = np.concatenate( (result_stats['v_vals'][t], v2_), 0) absdiff_img = cv2.absdiff(transformed, np.array([bval, gval, rval, 0.])) masked_diff = cv2.multiply(np.array(absdiff_img, 'float32'), np.array(mask3, 'float32')) num_pixels = cv2.sumElems(mask)[0] region_error = cv2.sumElems(cv2.sumElems(masked_diff))[0] avg_abs_err = region_error / (num_pixels + 1.) print 'Average abs. error', avg_abs_err result_stats['average_abs_err'].append(avg_abs_err) result_stats[ 'total_pixels'] = result_stats['total_pixels'] + num_pixels result_stats[ 'total_error'] = result_stats['total_error'] + region_error result_stats['total_regions'] = result_stats['total_regions'] + 1 # XXX: to finish return result_stats