| """ |
| @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): |
| |
| 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) |
| |
| |
| |
| |
| 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_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) |
