File size: 3,894 Bytes
b27cd24 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 | # line_visibility_location.py
import argparse
import json
import numpy as np
import cv2
from identify_queue_start_end import identify_start_end_bboxes, load_fpx_from_txt
def _bbox_edge_flags(bbox_xyxy, W, H, margin_px):
x1, y1, x2, y2 = [float(v) for v in bbox_xyxy.tolist()]
near_left = x1 <= margin_px
near_right = x2 >= (W - 1 - margin_px)
near_top = y1 <= margin_px
near_bottom = y2 >= (H - 1 - margin_px)
touches_any = near_left or near_right or near_top or near_bottom
return touches_any, near_left, near_right, near_top, near_bottom
def _location_bucket_from_center_x(cx, W):
# 5 bins: far left | center left | center | center right | far right
r = cx / max(W, 1)
if r < 0.2:
return "far left"
elif r < 0.4:
return "center left"
elif r < 0.6:
return "center"
elif r < 0.8:
return "center right"
else:
return "far right"
def endpoint_fields(bbox_xyxy, W, H, margin_px):
"""
Returns the 3 fields for one endpoint:
visible? location if visible; direction_to_turn if not visible
"""
x1, y1, x2, y2 = [float(v) for v in bbox_xyxy.tolist()]
cx = 0.5 * (x1 + x2)
touches_any, near_left, near_right, near_top, near_bottom = _bbox_edge_flags(
bbox_xyxy, W, H, margin_px
)
if touches_any:
visible = "no"
location = "N/A"
# Your rule: if close/touch left edge -> turn left else right.
# (If it touches right edge, that implies end is to the right.)
if near_left:
turn = "left"
else:
turn = "right"
else:
visible = "yes"
location = _location_bucket_from_center_x(cx, W)
turn = "N/A"
return visible, location, turn
def main():
ap = argparse.ArgumentParser()
ap.add_argument("--image_id", required=True)
ap.add_argument("--root", default="/scratch/ds5725/linefinder/LineFinder")
ap.add_argument("--margin_px", type=int, default=10,
help="Pixels to consider 'close to edge' (default 10)")
ap.add_argument("--out_json", default=None, help="Optional output json path")
args = ap.parse_args()
image_id = args.image_id
root = args.root
image_path = f"{root}/Images/ImagesOnline/{image_id}.JPG"
depth_path = f"{root}/depth_map/{image_id}.npy"
bbox_path = f"{root}/bbox_orient/{image_id}_bboxes.npy"
orient_path = f"{root}/bbox_orient/{image_id}_orient.npy"
fpx_path = f"{root}/focal_length_px.txt"
f_px = load_fpx_from_txt(fpx_path, image_id)
# Get start/end bboxes (start=head, end=tail) from your existing script
res = identify_start_end_bboxes(
image_path=image_path,
depth_npy_path=depth_path,
bboxes_npy_path=bbox_path,
orient_npy_path=orient_path,
f_px=f_px,
)
start_bbox = res["start_bbox_xyxy"] # head
end_bbox = res["end_bbox_xyxy"] # tail
img = cv2.imread(image_path)
if img is None:
raise FileNotFoundError(f"Could not read image: {image_path}")
H, W = img.shape[:2]
# END (tail)
end_visible, end_loc, end_turn = endpoint_fields(end_bbox, W, H, args.margin_px)
# START (head)
start_visible, start_loc, start_turn = endpoint_fields(start_bbox, W, H, args.margin_px)
out = {
"end_of_line_visible": end_visible,
"end_of_line_location_if_visible": end_loc,
"direction_to_turn_to_see_end_if_not_visible": end_turn,
"start_of_line_visible": start_visible,
"start_of_line_location_if_visible": start_loc,
"direction_to_turn_to_see_start_if_not_visible": start_turn,
}
print(json.dumps(out, indent=2))
if args.out_json:
with open(args.out_json, "w") as f:
json.dump(out, f, indent=2)
print(f"Saved: {args.out_json}")
if __name__ == "__main__":
main()
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