""" @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)