Ported combinedFilter to vis format, and fixed dimension bug in windo…

perception/__init__.py

@@ -3,12 +3,13 @@
 import perception.tasks.gate.GateSegmentationAlgoA as GateSegA
 import perception.tasks.gate.GateSegmentationAlgoB as GateSegB
 import perception.tasks.gate.GateSegmentationAlgoC as GateSegC
-# import perception.tasks as tasks
+import perception.tasks.segmentation.combinedFilter as CombinedFilter
 
 ALGOS = {
     'test': TestAlgo.TestAlgo,
     'gateseg': GateSeg.GateCenterAlgo,
     'gatesegA': GateSegA.GateSegmentationAlgoA,
     'gatesegB': GateSegB.GateSegmentationAlgoB,
-    'gatesegC': GateSegC.GateSegmentationAlgoC
+    'gatesegC': GateSegC.GateSegmentationAlgoC,
+    'combined_segmentations': CombinedFilter.CombinedFilter
 }

perception/tasks/gate/GateSegmentationAlgoA.py

@@ -1,7 +1,7 @@
 from perception.tasks.TaskPerceiver import TaskPerceiver
 from typing import Tuple
 
-from perception.tasks.segmentation.combinedFilter import init_combined_filter
+from perception.tasks.segmentation.combinedFilter import CombinedFilter
 import numpy as np
 import cv2 as cv
 
@@ -11,7 +11,7 @@ class GateSegmentationAlgoA(TaskPerceiver):
 
     def __init__(self):
         super().__init__()
-        self.combined_filter = init_combined_filter()
+        self.combined_filter = CombinedFilter().combined_filter
 
     # TODO: fix return typing
     def analyze(self, frame: np.ndarray, debug: bool, slider_vals=None) -> Tuple[float, float]:
@@ -25,7 +25,7 @@ def analyze(self, frame: np.ndarray, debug: bool, slider_vals=None) -> Tuple[flo
         """
         rect1, rect2 = None, None
 
-        filtered_frame = self.combined_filter(frame, display_figs=False)
+        filtered_frame = self.combined_filter(frame)[2]
 
         max_brightness = max([b for b in filtered_frame[:, :, 0][0]])
         lowerbound = max(0.84 * max_brightness, 120)

perception/tasks/gate/GateSegmentationAlgoB.py

@@ -1,7 +1,7 @@
 from typing import Tuple
 
 from perception.tasks.TaskPerceiver import TaskPerceiver
-from perception.tasks.segmentation.combinedFilter import init_combined_filter
+from perception.tasks.segmentation.combinedFilter import CombinedFilter
 import numpy as np
 import cv2 as cv
 import statistics
@@ -12,7 +12,7 @@ class GateSegmentationAlgoB(TaskPerceiver):
 
 	def __init__(self):
 		super().__init__()
-		self.combined_filter = init_combined_filter()
+		self.combined_filter = CombinedFilter().combined_filter
 
 	def analyze(self, frame: np.ndarray, debug: bool) -> Tuple[float, float]:
 		"""Takes in the background removed image and returns the center between
@@ -24,7 +24,7 @@ def analyze(self, frame: np.ndarray, debug: bool) -> Tuple[float, float]:
 			(x,y) coordinate with center of gate
 		"""
 		gate_center = (250, 250)
-		filtered_frame = self.combined_filter(frame, display_figs=False)
+		filtered_frame = self.combined_filter(frame)[2]
 
 		max_brightness = max([b for b in filtered_frame[:, :, 0][0]])
 		lowerbound = max(0.84*max_brightness, 120)

perception/tasks/gate/GateSegmentationAlgoC.py

@@ -2,7 +2,7 @@
 from typing import Tuple
 from collections import namedtuple
 
-from perception.tasks.segmentation.combinedFilter import init_combined_filter
+from perception.tasks.segmentation.combinedFilter import CombinedFilter
 import numpy as np
 import cv2 as cv
 
@@ -16,7 +16,7 @@ class GateSegmentationAlgoC(TaskPerceiver):
     def __init__(self, alpha=0.1):
         super().__init__()
         self.__alpha = alpha
-        self.combined_filter = init_combined_filter()
+        self.combined_filter = CombinedFilter().combined_filter
 
     # TODO: fix return typing
     def analyze(self, frame: np.ndarray, debug: bool) -> Tuple[float, float]:
@@ -29,7 +29,7 @@ def analyze(self, frame: np.ndarray, debug: bool) -> Tuple[float, float]:
             (x,y) coordinate with center of gate
         """
         gate_center = self.output_class(250, 250)
-        filtered_frame = self.combined_filter(frame, display_figs=False)
+        filtered_frame = self.combined_filter(frame)[2]
         filtered_frame_copies = [filtered_frame for _ in range(3)]
         stacked_filter_frames = np.concatenate(filtered_frame_copies, axis=2)
         mask = cv.inRange(

perception/tasks/segmentation/combinedFilter.py

@@ -1,24 +1,26 @@
 import cv2
 import numpy as np
 
-# TODO: port to vis + TaskPerciever format or remove
-
-from sys import argv as args
 from perception.tasks.segmentation.aggregateRescaling import init_aggregate_rescaling
 from perception.tasks.segmentation.peak_removal_adaptive_thresholding import filter_out_highest_peak_multidim
+from perception.tasks.TaskPerceiver import TaskPerceiver
+from typing import Dict, Tuple
 
-if __name__ == "__main__":
-    if args[1] == '0':
-        cap = cv2.VideoCapture(0)
-    else:
-        cap = cv2.VideoCapture(args[1])
+class CombinedFilter(TaskPerceiver):
+
+    def __init__(self):
+        super().__init__()
+        self.aggregate_rescaling = init_aggregate_rescaling(False)
 
-# Returns a grayscale image
-def init_combined_filter():
-    aggregate_rescaling = init_aggregate_rescaling(False)
+    def analyze(self, frame: np.ndarray, debug: bool, slider_vals: Dict[str, int]=None) -> Tuple[float, float]:
+        filtered_frames = self.combined_filter(frame)
 
-    def combined_filter(frame, custom_weights=None, display_figs=False, print_weights=False):
-        pca_frame = aggregate_rescaling(frame) # this resizes the frame within its body
+        if debug:
+            return None, filtered_frames # returns None because it's a more general algorithm
+        return None
+
+    def combined_filter(self, frame, custom_weights=None, print_weights=False):
+        pca_frame = self.aggregate_rescaling(frame) # this resizes the frame within its body
 
         __, other_frame = filter_out_highest_peak_multidim(
                             np.dstack([pca_frame[:,:,0], frame]),
@@ -27,31 +29,9 @@ def combined_filter(frame, custom_weights=None, display_figs=False, print_weight
 
         other_frame = other_frame[:, :, :1]
 
-        if display_figs:
-            cv2.imshow('original', frame)
-            cv2.imshow('Aggregate Rescaling via PCA', pca_frame)
-            cv2.imshow('Peak Removal Thresholding after PCA', other_frame)
-        return other_frame
-    return combined_filter
+        return [frame, pca_frame, other_frame]
 
 if __name__ == "__main__":
-    ret = True
-    ret_tries = 0
-
-    # for i in range(3000):
-    #     cap.read()
-
-    combined_filter = init_combined_filter()
-
-    while 1 and ret_tries < 50:
-        ret, frame = cap.read()
-        if ret:
-            frame = cv2.resize(frame, None, fx=0.4, fy=0.4)
-            filtered_frame = combined_filter(frame, display_figs=True)
-
-            ret_tries = 0
-            k = cv2.waitKey(60) & 0xff
-            if k == 27:
-                break
-        else:
-            ret_tries += 1
+    from perception.vis.vis import run
+
+    run(['..\..\..\data\GOPR1142.MP4'], CombinedFilter(), False)

perception/vis/Visualizer.py

@@ -22,6 +22,8 @@ def three_stack(self, frames: List[np.ndarray]) -> List[np.ndarray]:
 		for frame in frames:
 			if len(frame.shape) == 2 or frame.shape[2] == 1:
 				frame = np.stack((frame, frame, frame), axis=2)
+				if len(frame.shape) == 4:
+					frame = frame[:, :, :, 0]
 			newLst.append((frame))
 		return newLst
 
@@ -33,6 +35,8 @@ def reshape(self, frames: List[np.ndarray]) -> List[np.ndarray]:
 		width = img.shape[1]
 		dim = (width, height)
 		for frame in frames:
+			if len(frame.shape) > 3:
+				raise Exception('All of your debug frames should have 2 or 3 dimensions')
 			if frame.shape[0] != height or frame.shape[1] != width:
 				frame = cv.resize(frame, dim, interpolation=cv.INTER_AREA)
 			newLst.append(frame)
@@ -64,6 +68,7 @@ def display(self, frames: List[np.ndarray]) -> np.ndarray:
 					to_add = frames[frame_num]
 					this_row = np.hstack((this_row, to_add))
 				else:
+					a = frames[0]
 					this_row = np.hstack((this_row, np.zeros(frames[0].shape, dtype=np.uint8)))
 			if not isinstance(to_show, int):
 				to_show = np.vstack((to_show, this_row))