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| """ | |
| @date: 2021/06/19 | |
| @description: | |
| """ | |
| import matplotlib.pyplot as plt | |
| import cv2 | |
| import numpy as np | |
| from utils.conversion import uv2pixel | |
| from utils.boundary import corners2boundary, corners2boundaries, find_peaks, connect_corners_uv, get_object_cor, \ | |
| visibility_corners | |
| def draw_boundary(pano_img, corners: np.ndarray = None, boundary: np.ndarray = None, draw_corners=True, show=False, | |
| step=0.01, length=None, boundary_color=None, marker_color=None, title=None, visible=True): | |
| if marker_color is None: | |
| marker_color = [0, 0, 1] | |
| if boundary_color is None: | |
| boundary_color = [0, 1, 0] | |
| assert corners is not None or boundary is not None, "corners or boundary error" | |
| shape = sorted(pano_img.shape) | |
| assert len(shape) > 1, "pano_img shape error" | |
| w = shape[-1] | |
| h = shape[-2] | |
| pano_img = pano_img.copy() | |
| if (corners is not None and len(corners) > 2) or \ | |
| (boundary is not None and len(boundary) > 2): | |
| if isinstance(boundary_color, list) or isinstance(boundary_color, np.array): | |
| if boundary is None: | |
| boundary = corners2boundary(corners, step, length, visible) | |
| boundary = uv2pixel(boundary, w, h) | |
| pano_img[boundary[:, 1], boundary[:, 0]] = boundary_color | |
| pano_img[np.clip(boundary[:, 1] + 1, 0, h - 1), boundary[:, 0]] = boundary_color | |
| pano_img[np.clip(boundary[:, 1] - 1, 0, h - 1), boundary[:, 0]] = boundary_color | |
| if pano_img.shape[1] > 512: | |
| pano_img[np.clip(boundary[:, 1] + 1, 0, h - 1), np.clip(boundary[:, 0] + 1, 0, w - 1)] = boundary_color | |
| pano_img[np.clip(boundary[:, 1] + 1, 0, h - 1), np.clip(boundary[:, 0] - 1, 0, w - 1)] = boundary_color | |
| pano_img[np.clip(boundary[:, 1] - 1, 0, h - 1), np.clip(boundary[:, 0] + 1, 0, w - 1)] = boundary_color | |
| pano_img[np.clip(boundary[:, 1] - 1, 0, h - 1), np.clip(boundary[:, 0] - 1, 0, w - 1)] = boundary_color | |
| pano_img[boundary[:, 1], np.clip(boundary[:, 0] + 1, 0, w - 1)] = boundary_color | |
| pano_img[boundary[:, 1], np.clip(boundary[:, 0] - 1, 0, w - 1)] = boundary_color | |
| if corners is not None and draw_corners: | |
| if visible: | |
| corners = visibility_corners(corners) | |
| corners = uv2pixel(corners, w, h) | |
| for corner in corners: | |
| cv2.drawMarker(pano_img, tuple(corner), marker_color, markerType=0, markerSize=10, thickness=2) | |
| if show: | |
| plt.figure(figsize=(10, 5)) | |
| if title is not None: | |
| plt.title(title) | |
| plt.axis('off') | |
| plt.imshow(pano_img) | |
| plt.show() | |
| return pano_img | |
| def draw_boundaries(pano_img, corners_list: list = None, boundary_list: list = None, draw_corners=True, show=False, | |
| step=0.01, length=None, boundary_color=None, marker_color=None, title=None, ratio=None, visible=True): | |
| """ | |
| :param visible: | |
| :param pano_img: | |
| :param corners_list: | |
| :param boundary_list: | |
| :param draw_corners: | |
| :param show: | |
| :param step: | |
| :param length: | |
| :param boundary_color: RGB color | |
| :param marker_color: RGB color | |
| :param title: | |
| :param ratio: ceil_height/camera_height | |
| :return: | |
| """ | |
| assert corners_list is not None or boundary_list is not None, "corners_list or boundary_list error" | |
| if corners_list is not None: | |
| if ratio is not None and len(corners_list) == 1: | |
| corners_list = corners2boundaries(ratio, corners_uv=corners_list[0], step=None, visible=visible) | |
| for i, corners in enumerate(corners_list): | |
| pano_img = draw_boundary(pano_img, corners=corners, draw_corners=draw_corners, | |
| show=show if i == len(corners_list) - 1 else False, | |
| step=step, length=length, boundary_color=boundary_color, marker_color=marker_color, | |
| title=title, visible=visible) | |
| elif boundary_list is not None: | |
| if ratio is not None and len(boundary_list) == 1: | |
| boundary_list = corners2boundaries(ratio, corners_uv=boundary_list[0], step=None, visible=visible) | |
| for i, boundary in enumerate(boundary_list): | |
| pano_img = draw_boundary(pano_img, boundary=boundary, draw_corners=draw_corners, | |
| show=show if i == len(boundary_list) - 1 else False, | |
| step=step, length=length, boundary_color=boundary_color, marker_color=marker_color, | |
| title=title, visible=visible) | |
| return pano_img | |
| def draw_object(pano_img, heat_maps, size, depth, window_width=15, show=False): | |
| # window, door, opening | |
| colors = [[1, 0, 0], [1, 1, 0], [0, 0, 1]] | |
| for i, heat_map in enumerate(heat_maps): | |
| pk_u_s, _ = find_peaks(heat_map, size=window_width*2+1) | |
| for pk_u in pk_u_s: | |
| uv, xyz = get_object_cor(depth, size, center_u=pk_u, patch_num=len(heat_map)) | |
| bottom_poly = connect_corners_uv(uv[0], uv[1], length=pano_img.shape[1]) | |
| top_poly = connect_corners_uv(uv[2], uv[3], length=pano_img.shape[1])[::-1] | |
| bottom_max_index = bottom_poly[..., 0].argmax() | |
| if bottom_max_index != len(bottom_poly)-1: | |
| top_max_index = top_poly[..., 0].argmax() | |
| poly1 = np.concatenate([bottom_poly[:bottom_max_index+1], top_poly[top_max_index:]]) | |
| poly1 = uv2pixel(poly1, w=pano_img.shape[1], h=pano_img.shape[0]) | |
| poly1 = poly1[:, None, :] | |
| poly2 = np.concatenate([bottom_poly[bottom_max_index+1:], top_poly[:top_max_index]]) | |
| poly2 = uv2pixel(poly2, w=pano_img.shape[1], h=pano_img.shape[0]) | |
| poly2 = poly2[:, None, :] | |
| poly = [poly1, poly2] | |
| else: | |
| poly = np.concatenate([bottom_poly, top_poly]) | |
| poly = uv2pixel(poly, w=pano_img.shape[1], h=pano_img.shape[0]) | |
| poly = poly[:, None, :] | |
| poly = [poly] | |
| cv2.drawContours(pano_img, poly, -1, colors[i], 1) | |
| # | |
| # boundary_center_xyz = uv2xyz(np.array([pk_u, pk_v])) | |
| # | |
| # l_b_xyz = | |
| if show: | |
| plt.imshow(pano_img) | |
| plt.show() | |
| if __name__ == '__main__': | |
| from visualization.floorplan import draw_floorplan | |
| from utils.conversion import uv2xyz | |
| pano_img = np.zeros([512, 1024, 3]) | |
| corners = np.array([[0.2, 0.7], | |
| [0.4, 0.7], | |
| [0.3, 0.6], | |
| [0.6, 0.6], | |
| [0.8, 0.7]]) | |
| # draw_boundary(pano_img, corners, show=True) | |
| draw_boundaries(pano_img, corners_list=[corners], show=True, length=1024, ratio=1.2) | |
| draw_floorplan(uv2xyz(corners)[..., ::2], show=True, marker_color=None, center_color=0.8) |