1047 lines
39 KiB
Python
1047 lines
39 KiB
Python
|
import copy
|
|||
|
|
import math
|
|||
|
|
|
|||
|
|
import cv2
|
|||
|
|
import numpy as np
|
|||
|
|
from matplotlib import pyplot
|
|||
|
|
from numpy import where, mean
|
|||
|
|
from scipy import optimize
|
|||
|
|
from sklearn.cluster import OPTICS
|
|||
|
|
from config import opt
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 图片预处理
|
|||
|
|
def process_map(img, opt):
|
|||
|
|
def get_wall_area(map, stats, area):
|
|||
|
|
'''
|
|||
|
|
. map 获取墙壁的图像
|
|||
|
|
. stats 连通域信息
|
|||
|
|
. area 面积
|
|||
|
|
'''
|
|||
|
|
temp = []
|
|||
|
|
for i in range(1, num_labels):
|
|||
|
|
if stats[i, 4] > area:
|
|||
|
|
temp.append(i)
|
|||
|
|
wall_area = np.zeros((map.shape[0], map.shape[1]), np.uint8)
|
|||
|
|
for i in range(0, len(temp)):
|
|||
|
|
mask = labels == temp[i]
|
|||
|
|
wall_area[:, :][mask] = 255
|
|||
|
|
return wall_area
|
|||
|
|
|
|||
|
|
def get_NONwall_area(map, stats, area):
|
|||
|
|
'''
|
|||
|
|
. map 获取墙壁的图像
|
|||
|
|
. stats 连通域信息
|
|||
|
|
. area 面积
|
|||
|
|
'''
|
|||
|
|
temp = []
|
|||
|
|
for i in range(1, num_labels):
|
|||
|
|
if stats[i, 4] <= area:
|
|||
|
|
temp.append(i)
|
|||
|
|
wall_area = np.zeros((map.shape[0], map.shape[1]), np.uint8)
|
|||
|
|
for i in range(0, len(temp)):
|
|||
|
|
mask = labels == temp[i]
|
|||
|
|
wall_area[:, :][mask] = 255
|
|||
|
|
return wall_area
|
|||
|
|
|
|||
|
|
def get_rotate_angle(wall_area, length, opt):
|
|||
|
|
edges = cv2.Canny(wall_area, 50, 150, apertureSize=3)
|
|||
|
|
lines = cv2.HoughLines(edges, 1, np.pi / 180, length)
|
|||
|
|
|
|||
|
|
# output = np.zeros((img.shape[0], img.shape[1], 3), np.uint8)
|
|||
|
|
alfa = 0
|
|||
|
|
for line in lines:
|
|||
|
|
rho = line[0][0]
|
|||
|
|
theta = line[0][1]
|
|||
|
|
a = np.cos(theta)
|
|||
|
|
b = np.sin(theta)
|
|||
|
|
x0 = a * rho
|
|||
|
|
y0 = b * rho
|
|||
|
|
x1 = int(x0 + 1000 * (-b))
|
|||
|
|
y1 = int(y0 + 1000 * (a))
|
|||
|
|
x2 = int(x0 - 1000 * (-b))
|
|||
|
|
y2 = int(y0 - 1000 * (a))
|
|||
|
|
alfa = alfa + np.mod(theta, 90 / 360 * np.pi)
|
|||
|
|
alfa = theta
|
|||
|
|
# print(theta)
|
|||
|
|
# cv2.line(output, (x1, y1), (x2, y2), (0, 0, 255), 2)
|
|||
|
|
wall_area_ = rotate_bound(wall_area, -np.mod(theta, 90 / 360 * np.pi) / np.pi * 180) # 摆正图像
|
|||
|
|
# wall_area_ = cv2.dilate(wall_area_, kernel) # 腐蚀膨胀，去除墙上语义点
|
|||
|
|
connect_line = connect_door(wall_area_, opt.k, opt.m) # 封闭区域
|
|||
|
|
connect_line_ = rotate_bound(connect_line, np.mod(theta, 90 / 360 * np.pi) / np.pi * 180)
|
|||
|
|
# cv2.namedWindow("wall", 0)
|
|||
|
|
# cv2.imshow("wall", output)
|
|||
|
|
# cv2.waitKey(0)
|
|||
|
|
|
|||
|
|
alfa = alfa / lines.shape[0]
|
|||
|
|
print(alfa)
|
|||
|
|
|
|||
|
|
# cv2.namedWindow("wall", 0)
|
|||
|
|
# cv2.imshow("wall", output)
|
|||
|
|
# cv2.waitKey(0)
|
|||
|
|
return connect_line_
|
|||
|
|
|
|||
|
|
def rotate_bound(image, angle):
|
|||
|
|
'''
|
|||
|
|
. 旋转图片
|
|||
|
|
. @param image opencv读取后的图像
|
|||
|
|
. @param angle (逆)旋转角度
|
|||
|
|
'''
|
|||
|
|
|
|||
|
|
# img = cv2.imread("img/1.jpg")
|
|||
|
|
(h, w) = image.shape[:2] # 返回(高,宽,色彩通道数),此处取前两个值返回
|
|||
|
|
# 抓取旋转矩阵(应用角度的负值顺时针旋转)。参数1为旋转中心点;参数2为旋转角度,正的值表示逆时针旋转;参数3为各向同性的比例因子
|
|||
|
|
M = cv2.getRotationMatrix2D((w / 2, h / 2), -angle, 1.0)
|
|||
|
|
# 计算图像的新边界维数
|
|||
|
|
|
|||
|
|
# 调整旋转矩阵以考虑平移
|
|||
|
|
|
|||
|
|
# 执行实际的旋转并返回图像
|
|||
|
|
return cv2.warpAffine(image, M, (image.shape[1], image.shape[0])) # borderValue 缺省，默认是黑色
|
|||
|
|
# return M
|
|||
|
|
|
|||
|
|
def get_map(img, ratio):
|
|||
|
|
"""
|
|||
|
|
:param img:
|
|||
|
|
:param ratio: 获取地图，2表示有效面积的2倍
|
|||
|
|
:return:
|
|||
|
|
"""
|
|||
|
|
ratio = (ratio - 1) / 2
|
|||
|
|
b = np.nonzero(img)
|
|||
|
|
x_min = np.min(b[0])
|
|||
|
|
y_min = np.min(b[1])
|
|||
|
|
x_max = np.max(b[0])
|
|||
|
|
y_max = np.max(b[1])
|
|||
|
|
x_l = x_max - x_min
|
|||
|
|
y_l = y_max - y_min
|
|||
|
|
if x_l < 150:
|
|||
|
|
ratio = ratio + 0.5
|
|||
|
|
# map = np.zeros((x_max - x_min, y_max - y_min))
|
|||
|
|
map = img[int(max(x_min - ratio * x_l, 0)):int(min(x_max + x_l * ratio, img.shape[1])),
|
|||
|
|
int(max(0, y_min - ratio * y_l)):int(min(img.shape[0], ratio * y_l + y_max))]
|
|||
|
|
'''
|
|||
|
|
去掉未占用区域
|
|||
|
|
'''
|
|||
|
|
map[map < 70] = 255
|
|||
|
|
map[map <= 100] = 0
|
|||
|
|
map[map == 0] = 1
|
|||
|
|
map[map == 255] = 0
|
|||
|
|
map[map == 1] = 255
|
|||
|
|
"墙壁灰度值为1"
|
|||
|
|
return map
|
|||
|
|
|
|||
|
|
def draw_rgb(map):
|
|||
|
|
def rgb_semantics(number):
|
|||
|
|
output = np.array((5, 5, 5), np.uint8)
|
|||
|
|
if number == 115:
|
|||
|
|
'0号物体'
|
|||
|
|
output[0] = 232
|
|||
|
|
output[1] = 221
|
|||
|
|
output[2] = 203
|
|||
|
|
elif number == 116:
|
|||
|
|
'1号物体'
|
|||
|
|
output[0] = 205
|
|||
|
|
output[1] = 179
|
|||
|
|
output[2] = 128
|
|||
|
|
elif number == 117:
|
|||
|
|
'2号物体'
|
|||
|
|
output[0] = 3
|
|||
|
|
output[1] = 101
|
|||
|
|
output[2] = 100
|
|||
|
|
elif number == 118:
|
|||
|
|
'3号物体'
|
|||
|
|
output[0] = 3
|
|||
|
|
output[1] = 54
|
|||
|
|
output[2] = 73
|
|||
|
|
elif number == 119:
|
|||
|
|
'4号物体'
|
|||
|
|
output[0] = 3
|
|||
|
|
output[1] = 22
|
|||
|
|
output[2] = 52
|
|||
|
|
elif number == 120:
|
|||
|
|
'5号物体'
|
|||
|
|
output[0] = 237
|
|||
|
|
output[1] = 222
|
|||
|
|
output[2] = 139
|
|||
|
|
elif number == 121:
|
|||
|
|
'6号物体'
|
|||
|
|
output[0] = 251
|
|||
|
|
output[1] = 178
|
|||
|
|
output[2] = 23
|
|||
|
|
elif number == 150:
|
|||
|
|
'7号物体'
|
|||
|
|
output[0] = 96
|
|||
|
|
output[1] = 143
|
|||
|
|
output[2] = 159
|
|||
|
|
elif number == 151:
|
|||
|
|
'8号物体'
|
|||
|
|
output[0] = 1
|
|||
|
|
output[1] = 77
|
|||
|
|
output[2] = 103
|
|||
|
|
elif number == 152:
|
|||
|
|
'9号物体'
|
|||
|
|
output[0] = 254
|
|||
|
|
output[1] = 67
|
|||
|
|
output[2] = 101
|
|||
|
|
elif number == 153:
|
|||
|
|
'10号物'
|
|||
|
|
output[0] = 252
|
|||
|
|
output[1] = 157
|
|||
|
|
output[2] = 154
|
|||
|
|
elif number == 154:
|
|||
|
|
'11号物体'
|
|||
|
|
output[0] = 249
|
|||
|
|
output[1] = 205
|
|||
|
|
output[2] = 173
|
|||
|
|
elif number == 155:
|
|||
|
|
'12号物体'
|
|||
|
|
output[0] = 200
|
|||
|
|
output[1] = 200
|
|||
|
|
output[2] = 169
|
|||
|
|
elif number == 156:
|
|||
|
|
'13号物体'
|
|||
|
|
output[0] = 131
|
|||
|
|
output[1] = 175
|
|||
|
|
output[2] = 155
|
|||
|
|
elif number == 200:
|
|||
|
|
'14号物体'
|
|||
|
|
output[0] = 229
|
|||
|
|
output[1] = 187
|
|||
|
|
output[2] = 129
|
|||
|
|
elif number == 201:
|
|||
|
|
'15号物体'
|
|||
|
|
output[0] = 161
|
|||
|
|
output[1] = 23
|
|||
|
|
output[2] = 21
|
|||
|
|
elif number == 202:
|
|||
|
|
'16号物体'
|
|||
|
|
output[0] = 118
|
|||
|
|
output[1] = 77
|
|||
|
|
output[2] = 57
|
|||
|
|
elif number == 203:
|
|||
|
|
'17号物体'
|
|||
|
|
output[0] = 17
|
|||
|
|
output[1] = 63
|
|||
|
|
output[2] = 61
|
|||
|
|
elif number == 204:
|
|||
|
|
'18号物体'
|
|||
|
|
output[0] = 60
|
|||
|
|
output[1] = 79
|
|||
|
|
output[2] = 57
|
|||
|
|
elif number == 205:
|
|||
|
|
'19号物体'
|
|||
|
|
output[0] = 95
|
|||
|
|
output[1] = 92
|
|||
|
|
output[2] = 51
|
|||
|
|
elif number == 206:
|
|||
|
|
'20号物体'
|
|||
|
|
output[0] = 179
|
|||
|
|
output[1] = 214
|
|||
|
|
output[2] = 110
|
|||
|
|
elif number == 207:
|
|||
|
|
'21号物体'
|
|||
|
|
output[0] = 227
|
|||
|
|
output[1] = 160
|
|||
|
|
output[2] = 93
|
|||
|
|
elif number == 208:
|
|||
|
|
'22号物体'
|
|||
|
|
output[0] = 178
|
|||
|
|
output[1] = 190
|
|||
|
|
output[2] = 126
|
|||
|
|
elif number == 209:
|
|||
|
|
'23号物体'
|
|||
|
|
output[0] = 56
|
|||
|
|
output[1] = 13
|
|||
|
|
output[2] = 49
|
|||
|
|
else:
|
|||
|
|
output[0] = 5
|
|||
|
|
output[1] = 5
|
|||
|
|
output[2] = 5
|
|||
|
|
return output
|
|||
|
|
|
|||
|
|
output = np.zeros((map.shape[0], map.shape[1], 3), np.uint8)
|
|||
|
|
output_b = copy.copy(map)
|
|||
|
|
output_g = copy.copy(map)
|
|||
|
|
output_r = copy.copy(map)
|
|||
|
|
|
|||
|
|
for i in range(np.array(Intensity_value).shape[0]):
|
|||
|
|
intensity = Intensity_value[i]
|
|||
|
|
output_r[map == intensity] = rgb_semantics(intensity)[0]
|
|||
|
|
output_g[map == intensity] = rgb_semantics(intensity)[1]
|
|||
|
|
output_b[map == intensity] = rgb_semantics(intensity)[2]
|
|||
|
|
|
|||
|
|
output[:, :, 0] = output_b
|
|||
|
|
output[:, :, 1] = output_g
|
|||
|
|
output[:, :, 2] = output_r
|
|||
|
|
return output
|
|||
|
|
|
|||
|
|
# 行扫描，间隔k时，进行填充，填充值为1
|
|||
|
|
|
|||
|
|
# 将门口连起来
|
|||
|
|
def connect_door(wall_area, k, m):
|
|||
|
|
"""
|
|||
|
|
|
|||
|
|
:param wall_area:
|
|||
|
|
:param k: 门宽
|
|||
|
|
:param m: 墙壁长度
|
|||
|
|
:return:
|
|||
|
|
"""
|
|||
|
|
|
|||
|
|
def edge_connection(img, size, k, m):
|
|||
|
|
for i in range(size):
|
|||
|
|
Yi = np.where(img[i, :] > 220)
|
|||
|
|
# print(Yi)
|
|||
|
|
if len(Yi[0]) >= m: # 可调整 (墙壁长度)
|
|||
|
|
for j in range(0, len(Yi[0]) - 1):
|
|||
|
|
if Yi[0][j + 1] - Yi[0][j] <= k:
|
|||
|
|
img[i, Yi[0][j]:Yi[0][j + 1]] = 255
|
|||
|
|
return img
|
|||
|
|
|
|||
|
|
img = copy.copy(wall_area)
|
|||
|
|
g = edge_connection(img, img.shape[0], k, m) # k设的是门的宽度, m是判为墙壁的长度
|
|||
|
|
g = cv2.rotate(g, 0)
|
|||
|
|
g = edge_connection(g, img.shape[1], k, m)
|
|||
|
|
g = cv2.rotate(g, 2)
|
|||
|
|
g = g.astype(np.uint8)
|
|||
|
|
return g
|
|||
|
|
|
|||
|
|
'定义语义强度'
|
|||
|
|
Intensity_value = [115, 116, 117, 118, 119, 120, 121, 150, 151, 152, 153,
|
|||
|
|
154, 155, 156, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209]
|
|||
|
|
# Intensity_value = [153]
|
|||
|
|
map = get_map(img, 1.2)
|
|||
|
|
'插值处理，提高分辨率'
|
|||
|
|
map = cv2.resize(map, (map.shape[1] * 2, map.shape[0] * 2), interpolation=cv2.INTER_NEAREST)
|
|||
|
|
|
|||
|
|
num_labels, labels, stats, centroids = cv2.connectedComponentsWithStats(map, connectivity=8)
|
|||
|
|
wall_area = get_wall_area(map, stats, opt.acreage) # 获取墙壁区域
|
|||
|
|
NON_wall_area = get_NONwall_area(map, stats, opt.acreage)
|
|||
|
|
NON_wall_area = NON_wall_area / 255
|
|||
|
|
NON_wall_area = NON_wall_area * map
|
|||
|
|
|
|||
|
|
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (3, 3))
|
|||
|
|
wall_area = cv2.dilate(wall_area, kernel)
|
|||
|
|
|
|||
|
|
connect_line_ = get_rotate_angle(wall_area, opt.length, opt) # 连接
|
|||
|
|
|
|||
|
|
# wall_area_ = rotate_bound(wall_area, -alfa / np.pi * 180) # 摆正图像
|
|||
|
|
# # wall_area_ = cv2.dilate(wall_area_, kernel) # 腐蚀膨胀，去除墙上语义点
|
|||
|
|
#
|
|||
|
|
# connect_line = connect_door(wall_area_, opt.k, opt.m) # 封闭区域
|
|||
|
|
# connect_line_ = rotate_bound(connect_line, alfa / np.pi * 180)
|
|||
|
|
connect_line_[connect_line_ < 150] = 0
|
|||
|
|
connect_line_[connect_line_ > 0] = 255
|
|||
|
|
result = connect_line_ + NON_wall_area
|
|||
|
|
result[result > 255] = 255
|
|||
|
|
result = result.astype(np.uint8)
|
|||
|
|
result[result == 0] = 254
|
|||
|
|
result[result == 255] = 0
|
|||
|
|
result[result == 254] = 255
|
|||
|
|
# result = filter_wrong_point(result, Intensity_value)
|
|||
|
|
# output_rgb = draw_rgb(NON_wall_area)
|
|||
|
|
# connect_line_rgb = np.zeros((map.shape[0], map.shape[1], 3), np.uint8)
|
|||
|
|
# connect_line_rgb[:, :, 0] = copy.copy(connect_line_)
|
|||
|
|
# connect_line_rgb[:, :, 1] = copy.copy(connect_line_)
|
|||
|
|
# connect_line_rgb[:, :, 2] = copy.copy(connect_line_)
|
|||
|
|
|
|||
|
|
# connect_line_rgb[connect_line_rgb < 65] = 0
|
|||
|
|
# result_rgb = connect_line_rgb + output_rgb
|
|||
|
|
|
|||
|
|
# cv2.namedWindow("input_map", 0)
|
|||
|
|
# cv2.imshow("input_map", map)
|
|||
|
|
# cv2.namedWindow("wall", 0)
|
|||
|
|
# cv2.imshow("wall", connect_line)
|
|||
|
|
# cv2.namedWindow("map", 0)
|
|||
|
|
# cv2.imshow("map", map)
|
|||
|
|
# cv2.namedWindow("output", 0)
|
|||
|
|
# cv2.imshow('output', result_rgb)
|
|||
|
|
# cv2.namedWindow("result", 0)
|
|||
|
|
# cv2.imshow('result', result)
|
|||
|
|
# cv2.waitKey()
|
|||
|
|
# cv2.destroyAllWindows()
|
|||
|
|
# cv2.imwrite("result_rgb.png", result_rgb)
|
|||
|
|
cv2.imwrite("result.png", result)
|
|||
|
|
return result
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 绘制物体形状
|
|||
|
|
def obj_outline(map, Semantic_map, opt):
|
|||
|
|
'''
|
|||
|
|
. 绘制物体形状
|
|||
|
|
. @param map 语义地图
|
|||
|
|
. @param Semantic_map 场景分类图
|
|||
|
|
. @param opt 参数
|
|||
|
|
'''
|
|||
|
|
|
|||
|
|
# 根据不同语义物体得到不同参数
|
|||
|
|
def get_parameter(item, opt):
|
|||
|
|
'''
|
|||
|
|
. 得到物体参数
|
|||
|
|
. @param item 物体的强度值
|
|||
|
|
. @param opt 物体参数
|
|||
|
|
'''
|
|||
|
|
if (item == 115):
|
|||
|
|
min_samples = opt.min_samples_115
|
|||
|
|
max_eps = opt.max_eps_115
|
|||
|
|
shape = opt.shape_115 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_115 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [232, 221, 203]
|
|||
|
|
elif (item == 116):
|
|||
|
|
min_samples = opt.min_samples_116
|
|||
|
|
max_eps = opt.max_eps_116
|
|||
|
|
shape = opt.shape_116 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_116 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [205, 179, 128]
|
|||
|
|
elif (item == 117):
|
|||
|
|
min_samples = opt.min_samples_117
|
|||
|
|
max_eps = opt.max_eps_117
|
|||
|
|
shape = opt.shape_117 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_117 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [3, 101, 100]
|
|||
|
|
elif (item == 118):
|
|||
|
|
min_samples = opt.min_samples_118
|
|||
|
|
max_eps = opt.max_eps_118
|
|||
|
|
shape = opt.shape_118 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_118 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [3, 54, 73]
|
|||
|
|
elif (item == 119):
|
|||
|
|
min_samples = opt.min_samples_119
|
|||
|
|
max_eps = opt.max_eps_119
|
|||
|
|
shape = opt.shape_119 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_119 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [3, 22, 52]
|
|||
|
|
elif (item == 120):
|
|||
|
|
min_samples = opt.min_samples_120
|
|||
|
|
max_eps = opt.max_eps_120
|
|||
|
|
shape = opt.shape_120 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_120 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [237, 22, 139]
|
|||
|
|
elif (item == 121):
|
|||
|
|
min_samples = opt.min_samples_121
|
|||
|
|
max_eps = opt.max_eps_121
|
|||
|
|
shape = opt.shape_121 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_121 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [251, 178, 23]
|
|||
|
|
elif (item == 150):
|
|||
|
|
min_samples = opt.min_samples_150
|
|||
|
|
max_eps = opt.max_eps_150
|
|||
|
|
shape = opt.shape_150 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_150 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [96, 143, 159]
|
|||
|
|
elif (item == 151):
|
|||
|
|
min_samples = opt.min_samples_151
|
|||
|
|
max_eps = opt.max_eps_151
|
|||
|
|
shape = opt.shape_151 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_151 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [1, 77, 103]
|
|||
|
|
elif (item == 152):
|
|||
|
|
min_samples = opt.min_samples_152
|
|||
|
|
max_eps = opt.max_eps_152
|
|||
|
|
shape = opt.shape_152 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_152 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [254, 67, 101]
|
|||
|
|
elif (item == 153):
|
|||
|
|
min_samples = opt.min_samples_153
|
|||
|
|
max_eps = opt.max_eps_153
|
|||
|
|
shape = opt.shape_153 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_153 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [252, 157, 154]
|
|||
|
|
elif (item == 154):
|
|||
|
|
min_samples = opt.min_samples_154
|
|||
|
|
max_eps = opt.max_eps_154
|
|||
|
|
shape = opt.shape_154 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_154 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [249, 205, 173]
|
|||
|
|
elif (item == 155):
|
|||
|
|
min_samples = opt.min_samples_155
|
|||
|
|
max_eps = opt.max_eps_155
|
|||
|
|
shape = opt.shape_155 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_155 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [200, 200, 169]
|
|||
|
|
elif (item == 156):
|
|||
|
|
min_samples = opt.min_samples_156
|
|||
|
|
max_eps = opt.max_eps_156
|
|||
|
|
shape = opt.shape_156 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_156 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [131, 175, 155]
|
|||
|
|
elif (item == 200):
|
|||
|
|
min_samples = opt.min_samples_200
|
|||
|
|
max_eps = opt.max_eps_200
|
|||
|
|
shape = opt.shape_200 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_200 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [229, 187, 129]
|
|||
|
|
elif (item == 201):
|
|||
|
|
min_samples = opt.min_samples_201
|
|||
|
|
max_eps = opt.max_eps_201
|
|||
|
|
shape = opt.shape_201 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_201 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [161, 23, 21]
|
|||
|
|
elif (item == 202):
|
|||
|
|
min_samples = opt.min_samples_202
|
|||
|
|
max_eps = opt.max_eps_202
|
|||
|
|
shape = opt.shape_202 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_202 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [118, 77, 57]
|
|||
|
|
elif (item == 203):
|
|||
|
|
min_samples = opt.min_samples_203
|
|||
|
|
max_eps = opt.max_eps_203
|
|||
|
|
shape = opt.shape_203 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_203 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [17, 63, 61]
|
|||
|
|
elif (item == 204):
|
|||
|
|
min_samples = opt.min_samples_204
|
|||
|
|
max_eps = opt.max_eps_204
|
|||
|
|
shape = opt.shape_204 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_204 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [60, 79, 57]
|
|||
|
|
elif (item == 205):
|
|||
|
|
min_samples = opt.min_samples_205
|
|||
|
|
max_eps = opt.max_eps_205
|
|||
|
|
shape = opt.shape_205 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_205 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [95, 92, 51]
|
|||
|
|
elif (item == 209):
|
|||
|
|
min_samples = opt.min_samples_209
|
|||
|
|
max_eps = opt.max_eps_209
|
|||
|
|
shape = opt.shape_209 # 0是圆形，1是矩形
|
|||
|
|
size = opt.size_209 # 0是按轮廓，1是直接画正矩形
|
|||
|
|
color = [56, 13, 49]
|
|||
|
|
|
|||
|
|
return min_samples, max_eps, shape, size, color
|
|||
|
|
|
|||
|
|
# 画物体轮廓
|
|||
|
|
def draw_outline(X, item, min_samples, max_eps, shape, color, size, output):
|
|||
|
|
'''
|
|||
|
|
. 得到物体参数
|
|||
|
|
. @param X 语义物体的行列坐标
|
|||
|
|
. @param item 语义物体的强度值
|
|||
|
|
. @param min_samples 聚类的最小样本数
|
|||
|
|
. @param max_eps 聚类的最大半径
|
|||
|
|
. @param shape 语义物体绘制形状参数（ 0代表绘制圆形，1代表绘制矩形）
|
|||
|
|
. @param color 语义物体的色彩
|
|||
|
|
. @param size 语义物体绘制轮廓的参数（0代表按轮廓绘制，1代表绘制正矩形）
|
|||
|
|
. @param output 已经绘制过某个物体形状的 map图片
|
|||
|
|
'''
|
|||
|
|
|
|||
|
|
# 聚类（OPTICS算法）
|
|||
|
|
# X = X.astype(np.uint8)
|
|||
|
|
yhat = OPTICS(min_samples=min_samples, max_eps=max_eps, cluster_method='dbscan').fit_predict(X)
|
|||
|
|
# 检索唯一群集
|
|||
|
|
clusters = np.unique(yhat)
|
|||
|
|
# 画散点图
|
|||
|
|
# 为每个群集的样本创建散点图
|
|||
|
|
# for cluster in clusters:
|
|||
|
|
# # 获取此群集的示例的行索引
|
|||
|
|
# row_ix = where(yhat == cluster)
|
|||
|
|
# # 创建这些样本的散布
|
|||
|
|
# pyplot.scatter(X[row_ix, 0], X[row_ix, 1])
|
|||
|
|
# # 绘制散点图
|
|||
|
|
# pyplot.show()
|
|||
|
|
'''
|
|||
|
|
找最小外接矩形 (绘制形状)
|
|||
|
|
'''
|
|||
|
|
color = color[::-1]
|
|||
|
|
for cluster in clusters:
|
|||
|
|
# 获取此群集的示例的行索引，将每个物体从map中提取出来
|
|||
|
|
if (cluster == -1):
|
|||
|
|
continue
|
|||
|
|
row_ix = where(yhat == cluster)
|
|||
|
|
# print(row_ix[0].shape[0])
|
|||
|
|
if row_ix[0].shape[0] <= 1:
|
|||
|
|
continue
|
|||
|
|
if (item == 115 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 116 and row_ix[0].shape[0] <= 4):
|
|||
|
|
continue
|
|||
|
|
if (item == 117 and row_ix[0].shape[0] <= 4):
|
|||
|
|
continue
|
|||
|
|
if (item == 118 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 119 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 120 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 121 and row_ix[0].shape[0] <= 4):
|
|||
|
|
continue
|
|||
|
|
if (item == 150 and row_ix[0].shape[0] <= 4):
|
|||
|
|
continue
|
|||
|
|
if (item == 151 and row_ix[0].shape[0] <= 4):
|
|||
|
|
continue
|
|||
|
|
if (item == 152 and row_ix[0].shape[0] <= 4):
|
|||
|
|
continue
|
|||
|
|
if (item == 153 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 154 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 155 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 156 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 200 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 201 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 202 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 203 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 204 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 205 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
if (item == 209 and row_ix[0].shape[0] <= 2):
|
|||
|
|
continue
|
|||
|
|
obj = np.zeros((map.shape[0], map.shape[1]), np.uint8)
|
|||
|
|
row = X[row_ix, 0].astype(int)
|
|||
|
|
col = X[row_ix, 1].astype(int)
|
|||
|
|
obj[row, col] = 1
|
|||
|
|
# cv2.namedWindow("obj", 0)
|
|||
|
|
# cv2.imshow('obj',obj)
|
|||
|
|
if (shape == 1):
|
|||
|
|
# 计算外接矩形
|
|||
|
|
box = outer_rectangle(obj, size)
|
|||
|
|
# color = color[::-1]
|
|||
|
|
|
|||
|
|
# 画图
|
|||
|
|
if (size == 0):
|
|||
|
|
# 外接矩形缩放
|
|||
|
|
# vertices = shrink_rectangle(box)
|
|||
|
|
vertices = box
|
|||
|
|
output = cv2.drawContours(output, [vertices], 0, color, -1, lineType=cv2.LINE_4)
|
|||
|
|
elif (size == 1):
|
|||
|
|
# 外接矩形缩放
|
|||
|
|
# vertices = shrink_rectangle(box)
|
|||
|
|
vertices = box
|
|||
|
|
cv2.rectangle(output, (vertices[0, 0], vertices[0, 1]), (vertices[2, 0], vertices[2, 1]), color, -1)
|
|||
|
|
elif (shape == 0):
|
|||
|
|
circle_x = col
|
|||
|
|
circle_y = row
|
|||
|
|
center, radius = fit_circle(circle_x, circle_y)
|
|||
|
|
# binary, contours, hierarchy = cv2.findContours(obj, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
|
|||
|
|
# center, radius = outer_circle(obj)
|
|||
|
|
cv2.circle(output, center, radius, color, -1)
|
|||
|
|
|
|||
|
|
return output
|
|||
|
|
|
|||
|
|
# 计算最小外接矩形
|
|||
|
|
def outer_rectangle(obj, size):
|
|||
|
|
'''
|
|||
|
|
. 计算最小外接矩形
|
|||
|
|
. @param obj 语义物体的位置信息
|
|||
|
|
. @param size 语义物体绘制轮廓的参数（0代表按轮廓绘制，1代表绘制正矩形）
|
|||
|
|
'''
|
|||
|
|
binary, contours, hierarchy = cv2.findContours(obj, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
|
|||
|
|
contour = []
|
|||
|
|
for cont in contours:
|
|||
|
|
contour.extend(cont)
|
|||
|
|
if (size == 0):
|
|||
|
|
min_rect = cv2.minAreaRect(np.array(contour))
|
|||
|
|
box = cv2.boxPoints(min_rect)
|
|||
|
|
# box = np.round(box)
|
|||
|
|
box = np.int0(box)
|
|||
|
|
|
|||
|
|
# 排序
|
|||
|
|
temp = np.where(box == np.min(box[:, 0])) # box的第0列是列，第1列是行
|
|||
|
|
# print(temp[0].shape[0])
|
|||
|
|
if temp[0].shape[0] > 1:
|
|||
|
|
left = np.min(box[:, 0])
|
|||
|
|
right = np.max(box[:, 0])
|
|||
|
|
up = np.min(box[:, 1])
|
|||
|
|
down = np.max(box[:, 1])
|
|||
|
|
top_point_x = left
|
|||
|
|
top_point_y = up
|
|||
|
|
right_point_x = right
|
|||
|
|
right_point_y = up
|
|||
|
|
bottom_point_x = right
|
|||
|
|
bottom_point_y = down
|
|||
|
|
left_point_x = left
|
|||
|
|
left_point_y = down
|
|||
|
|
vertices = np.array(
|
|||
|
|
[[top_point_x, top_point_y], [right_point_x, right_point_y], [bottom_point_x, bottom_point_y],
|
|||
|
|
[left_point_x, left_point_y]])
|
|||
|
|
return box
|
|||
|
|
left_point_x = np.min(box[:, 0])
|
|||
|
|
right_point_x = np.max(box[:, 0])
|
|||
|
|
top_point_y = np.min(box[:, 1])
|
|||
|
|
bottom_point_y = np.max(box[:, 1])
|
|||
|
|
|
|||
|
|
left_point_y = box[:, 1][np.where(box[:, 0] == left_point_x)][0]
|
|||
|
|
right_point_y = box[:, 1][np.where(box[:, 0] == right_point_x)][0]
|
|||
|
|
top_point_x = box[:, 0][np.where(box[:, 1] == top_point_y)][0]
|
|||
|
|
bottom_point_x = box[:, 0][np.where(box[:, 1] == bottom_point_y)][0]
|
|||
|
|
|
|||
|
|
vertices = np.array(
|
|||
|
|
[[top_point_x, top_point_y], [right_point_x, right_point_y], [bottom_point_x, bottom_point_y],
|
|||
|
|
[left_point_x, left_point_y]])
|
|||
|
|
return box
|
|||
|
|
elif (size == 1):
|
|||
|
|
x, y, w, h = cv2.boundingRect(np.array(contour))
|
|||
|
|
vertices = np.array([[x, y], [x + w, y], [x + w, y + h],
|
|||
|
|
[x, y + h]])
|
|||
|
|
return vertices
|
|||
|
|
|
|||
|
|
# 计算最小外接圆
|
|||
|
|
def outer_circle(obj):
|
|||
|
|
'''
|
|||
|
|
. 计算最小外接圆
|
|||
|
|
. @param obj 语义物体的位置信息
|
|||
|
|
'''
|
|||
|
|
binary, contours, hierarchy = cv2.findContours(obj, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
|
|||
|
|
contour = []
|
|||
|
|
for cont in contours:
|
|||
|
|
contour.extend(cont)
|
|||
|
|
|
|||
|
|
(x, y), radius = cv2.minEnclosingCircle(np.array(contour))
|
|||
|
|
|
|||
|
|
center = (int(round(x)), int(round(y)))
|
|||
|
|
radius = int(round(radius))
|
|||
|
|
print(x, y, radius)
|
|||
|
|
return center, radius
|
|||
|
|
|
|||
|
|
# 计算最小拟合圆
|
|||
|
|
def calc_R(xc, yc):
|
|||
|
|
return np.sqrt((x - xc) ** 2 + (y - yc) ** 2)
|
|||
|
|
|
|||
|
|
def f_2(c):
|
|||
|
|
Ri = calc_R(*c)
|
|||
|
|
return Ri - Ri.mean()
|
|||
|
|
|
|||
|
|
def fit_circle(x, y):
|
|||
|
|
'''
|
|||
|
|
. 计算最小外接圆
|
|||
|
|
. @param x 语义物体的所在列
|
|||
|
|
. @param x 语义物体的所在行
|
|||
|
|
'''
|
|||
|
|
x_m = mean(x)
|
|||
|
|
y_m = mean(y)
|
|||
|
|
center_estimate = x_m, y_m
|
|||
|
|
center_2, _ = optimize.leastsq(f_2, center_estimate)
|
|||
|
|
xc_2, yc_2 = center_2
|
|||
|
|
Ri_2 = calc_R(xc_2, yc_2)
|
|||
|
|
# 拟合圆的半径
|
|||
|
|
R_2 = Ri_2.mean()
|
|||
|
|
center = (int(round(xc_2)), int(round(yc_2)))
|
|||
|
|
radius = int(round(R_2))
|
|||
|
|
print(xc_2, yc_2, radius)
|
|||
|
|
return center, radius
|
|||
|
|
|
|||
|
|
# 外接矩形内缩
|
|||
|
|
def shrink_rectangle(box):
|
|||
|
|
'''
|
|||
|
|
. 外接矩形内缩
|
|||
|
|
. @param box 语义物体的轮廓信息
|
|||
|
|
'''
|
|||
|
|
temp = np.where(box == np.min(box[:, 0])) # box的第0列是列，第1列是行
|
|||
|
|
# print(temp[0].shape[0])
|
|||
|
|
if temp[0].shape[0] > 1:
|
|||
|
|
left = np.min(box[:, 0])
|
|||
|
|
right = np.max(box[:, 0])
|
|||
|
|
up = np.min(box[:, 1])
|
|||
|
|
down = np.max(box[:, 1])
|
|||
|
|
top_point_x = left + 1
|
|||
|
|
top_point_y = up + 1
|
|||
|
|
right_point_x = right - 1
|
|||
|
|
right_point_y = up + 1
|
|||
|
|
bottom_point_x = right - 1
|
|||
|
|
bottom_point_y = down - 1
|
|||
|
|
left_point_x = left + 1
|
|||
|
|
left_point_y = down - 1
|
|||
|
|
vertices = np.array(
|
|||
|
|
[[top_point_x, top_point_y], [right_point_x, right_point_y], [bottom_point_x, bottom_point_y],
|
|||
|
|
[left_point_x, left_point_y]])
|
|||
|
|
return vertices
|
|||
|
|
|
|||
|
|
left_point_x = np.min(box[:, 0])
|
|||
|
|
right_point_x = np.max(box[:, 0])
|
|||
|
|
top_point_y = np.min(box[:, 1])
|
|||
|
|
bottom_point_y = np.max(box[:, 1])
|
|||
|
|
|
|||
|
|
left_point_y = box[:, 1][np.where(box[:, 0] == left_point_x)][0]
|
|||
|
|
right_point_y = box[:, 1][np.where(box[:, 0] == right_point_x)][0]
|
|||
|
|
top_point_x = box[:, 0][np.where(box[:, 1] == top_point_y)][0]
|
|||
|
|
bottom_point_x = box[:, 0][np.where(box[:, 1] == bottom_point_y)][0]
|
|||
|
|
|
|||
|
|
vertices = np.array(
|
|||
|
|
[[top_point_x, top_point_y], [right_point_x, right_point_y], [bottom_point_x, bottom_point_y],
|
|||
|
|
[left_point_x, left_point_y]])
|
|||
|
|
|
|||
|
|
# print(vertices)
|
|||
|
|
|
|||
|
|
if top_point_x > bottom_point_x:
|
|||
|
|
vertices[0, 0] = vertices[0, 0] - 1
|
|||
|
|
vertices[0, 1] = vertices[0, 1] + 1
|
|||
|
|
vertices[2, 0] = vertices[2, 0] + 1
|
|||
|
|
vertices[2, 1] = vertices[2, 1] - 1
|
|||
|
|
if top_point_x < bottom_point_x:
|
|||
|
|
vertices[0, 0] = vertices[0, 0] + 1
|
|||
|
|
vertices[0, 1] = vertices[0, 1] + 1
|
|||
|
|
vertices[2, 0] = vertices[2, 0] - 1
|
|||
|
|
vertices[2, 1] = vertices[2, 1] - 1
|
|||
|
|
if right_point_y > left_point_y:
|
|||
|
|
vertices[1, 0] = vertices[1, 0] - 1
|
|||
|
|
vertices[1, 1] = vertices[1, 1] - 1
|
|||
|
|
vertices[3, 0] = vertices[3, 0] + 1
|
|||
|
|
vertices[3, 1] = vertices[3, 1] + 1
|
|||
|
|
if right_point_y < left_point_y:
|
|||
|
|
vertices[1, 0] = vertices[1, 0] - 1
|
|||
|
|
vertices[1, 1] = vertices[1, 1] + 1
|
|||
|
|
vertices[3, 0] = vertices[3, 0] + 1
|
|||
|
|
vertices[3, 1] = vertices[3, 1] - 1
|
|||
|
|
return vertices
|
|||
|
|
|
|||
|
|
# 添加图例
|
|||
|
|
def draw_legend(img, item, color, k):
|
|||
|
|
obj_name = {'115': 'Dog basin', '116': 'Bar chair base', '117': 'Fan base', '118': 'Washing machine',
|
|||
|
|
'119': 'Refrigerator', '120': 'Toilet', '121': 'Weighing scale', '150': 'Wire', '152': 'Desk',
|
|||
|
|
'153': 'Carpet', '154': 'Rag', '155': 'Tea table', '156': 'TV cabinet', '200': 'Slippers',
|
|||
|
|
'201': 'Sock', '202': 'Wardrobe', '203': 'Bed', '204': 'Sofa', '205': 'Chair'}
|
|||
|
|
color = color[::-1]
|
|||
|
|
text = obj_name[str(item)]
|
|||
|
|
font = cv2.FONT_HERSHEY_DUPLEX
|
|||
|
|
# cv2.rectangle(img, (output.shape[1] - 140, 10 + k * 17), (output.shape[1] - 120, 20 + k * 17), color, -1)
|
|||
|
|
# cv2.putText(img, text, (output.shape[1] - 100, 20 + k * 17), font, 0.4, color, 1, cv2.LINE_AA)
|
|||
|
|
cv2.rectangle(img, (10, 10 + k * 17), (30, 20 + k * 17), color, -1)
|
|||
|
|
cv2.putText(img, text, (40, 20 + k * 17), font, 0.4, color, 1, cv2.LINE_AA)
|
|||
|
|
return img
|
|||
|
|
|
|||
|
|
# 语义物体的强度值
|
|||
|
|
# obj_value = [152, 121, 200, 115, 205, 117, 203]
|
|||
|
|
# obj_value = [115, 116, 117, 118, 119, 120, 121, 150, 151, 152, 153,
|
|||
|
|
# 154, 155, 156, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209]
|
|||
|
|
# obj_value = [152, 117]
|
|||
|
|
obj_value = []
|
|||
|
|
obj_legend = []
|
|||
|
|
# output是最后画上物体形状的总图
|
|||
|
|
output = Semantic_map
|
|||
|
|
# output = np.zeros((map.shape[0], map.shape[1], 3), np.uint8)
|
|||
|
|
# output[:, :, 0] = map
|
|||
|
|
# output[:, :, 1] = map
|
|||
|
|
# output[:, :, 2] = map
|
|||
|
|
|
|||
|
|
# cv2.namedWindow("map", 0)
|
|||
|
|
# cv2.imshow("map", map)
|
|||
|
|
k = 0
|
|||
|
|
|
|||
|
|
# 对每个物体绘制形状
|
|||
|
|
for item in iter(obj_value):
|
|||
|
|
if ((map == item).any()):
|
|||
|
|
# min_samples, max_eps, shape, size, color = get_parameter(item)
|
|||
|
|
min_samples, max_eps, shape, size, color = get_parameter(item, opt)
|
|||
|
|
y, x = np.where(map == item) # y是行，x是列
|
|||
|
|
X = np.zeros((x.shape[0], 2))
|
|||
|
|
X[:, 0] = y
|
|||
|
|
X[:, 1] = x
|
|||
|
|
output = draw_outline(X, item, min_samples, max_eps, shape, color, size, output)
|
|||
|
|
|
|||
|
|
if item not in obj_legend:
|
|||
|
|
output = draw_legend(output, item, color, k)
|
|||
|
|
k = k + 1
|
|||
|
|
|
|||
|
|
img1 = cv2.cvtColor(output, cv2.COLOR_BGR2GRAY) # 方便统计尺寸
|
|||
|
|
|
|||
|
|
return output
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 场景识别
|
|||
|
|
def get_labels(img):
|
|||
|
|
def get_wall_area(map, stats, area):
|
|||
|
|
'''
|
|||
|
|
. map 获取墙壁的图像
|
|||
|
|
. stats 连通域信息
|
|||
|
|
. area 面积
|
|||
|
|
'''
|
|||
|
|
temp = []
|
|||
|
|
for i in range(1, num_labels):
|
|||
|
|
if stats[i, 4] > area: # 第i个区域的面积大于阈值，则为墙壁
|
|||
|
|
temp.append(i)
|
|||
|
|
wall_area = np.zeros((map.shape[0], map.shape[1]), np.uint8)
|
|||
|
|
for i in range(0, len(temp)):
|
|||
|
|
mask = labels == temp[i]
|
|||
|
|
wall_area[:, :][mask] = 255
|
|||
|
|
return wall_area
|
|||
|
|
|
|||
|
|
# def draw_legend(img,scene,color,k):
|
|||
|
|
# obj_name = {'0':'Dog basin','1':'Fan base','2':'Weighing scale','3':'Desk','4':'Slippers'}
|
|||
|
|
# color = color[::-1]
|
|||
|
|
# text = obj_name[str(scene)]
|
|||
|
|
# font = cv2.FONT_HERSHEY_DUPLEX
|
|||
|
|
# cv2.rectangle(img, (output.shape[1] - 140, 50+k*17), (output.shape[1] - 120, 60+k*17), color, -1)
|
|||
|
|
# cv2.putText(img, text, (output.shape[1] - 100, 60+k*17), font, 0.4, color, 1, cv2.LINE_AA)
|
|||
|
|
# return img
|
|||
|
|
|
|||
|
|
def Scene(obj_label):
|
|||
|
|
'''
|
|||
|
|
:param obj_label:
|
|||
|
|
:return: index "bedroom","livingroom","bathroom","kitchen" ,"unknow"
|
|||
|
|
'''
|
|||
|
|
print(obj_label)
|
|||
|
|
Intensity_value = [115, 116, 117, 118, 119, 120, 121, 150, 151, 152, 153,
|
|||
|
|
154, 155, 156, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209]
|
|||
|
|
p_sce = np.ones((1, 5)) * 0.25
|
|||
|
|
p_sce[0][4] = 0
|
|||
|
|
|
|||
|
|
p_obj_sce = np.array([[0, 0.2, 0, 0],
|
|||
|
|
[0, 0, 0, 0],
|
|||
|
|
[0.2, 0.4, 0, 0.01],
|
|||
|
|
[0.01, 0.04, 0.8, 0],
|
|||
|
|
[0.02, 0.2, 0, 0.8],
|
|||
|
|
[0, 0, 0.99, 0],
|
|||
|
|
[0.6, 0.4, 0.1, 0],
|
|||
|
|
[0.6, 0.6, 0, 0.1],
|
|||
|
|
[0.4, 0.4, 0, 0],
|
|||
|
|
[0, 0.4, 0, 0],
|
|||
|
|
[0, 0, 0, 0],
|
|||
|
|
[0.1, 0.1, 0.2, 0.1],
|
|||
|
|
[0.1, 0.7, 0, 0],
|
|||
|
|
[0.4, 0.4, 0, 0],
|
|||
|
|
[0.45, 0.34, 0.32, 0],
|
|||
|
|
[0.27, 0.26, 0, 0],
|
|||
|
|
[0.8, 0, 0, 0],
|
|||
|
|
[0.99, 0, 0, 0],
|
|||
|
|
[0.05, 0.9, 0, 0],
|
|||
|
|
[0, 0, 0, 0],
|
|||
|
|
[0, 0, 0, 0],
|
|||
|
|
[0, 0, 0, 0],
|
|||
|
|
[0, 0, 0, 0]
|
|||
|
|
])
|
|||
|
|
p_temp = 1.0
|
|||
|
|
p_obj = 0.3 # 目标检测出的置信度
|
|||
|
|
pre_scene = np.zeros((1, 5))
|
|||
|
|
if (len(obj_label) == 0):
|
|||
|
|
pre_scene[0][4] = 1
|
|||
|
|
else:
|
|||
|
|
for i in range(4):
|
|||
|
|
for j in range(len(obj_label)):
|
|||
|
|
k = obj_label[j]
|
|||
|
|
sum_temp = np.sum(p_obj_sce[k])
|
|||
|
|
if (sum_temp == 0):
|
|||
|
|
pre_scene[0][4] = 1
|
|||
|
|
continue
|
|||
|
|
m = p_obj_sce[k, i]
|
|||
|
|
p_temp = (1.0 - (m / sum_temp * p_obj)) * p_temp
|
|||
|
|
pre_scene[0][i] = 1 - p_temp
|
|||
|
|
p_temp = 1.0
|
|||
|
|
if np.max(pre_scene[0, 0:4]) > 0.1:
|
|||
|
|
pre_scene[0][4] = 0
|
|||
|
|
sce_index = np.argmax(pre_scene)
|
|||
|
|
print(pre_scene)
|
|||
|
|
return sce_index
|
|||
|
|
|
|||
|
|
Intensity_value = [115, 116, 117, 118, 119, 120, 121, 150, 151, 152, 153,
|
|||
|
|
154, 155, 156, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209]
|
|||
|
|
'只保留墙壁空间'
|
|||
|
|
temp = copy.copy(img)
|
|||
|
|
temp[temp == 0] = 254
|
|||
|
|
temp[temp == 255] = 0
|
|||
|
|
temp[temp == 254] = 255
|
|||
|
|
temp[temp < 254] = 0
|
|||
|
|
Semantic_map = np.zeros((img.shape[0], img.shape[1], 3), np.uint8)
|
|||
|
|
temp = temp.astype(np.uint8)
|
|||
|
|
num_labels, labels, stats, centroids = cv2.connectedComponentsWithStats(temp, connectivity=8)
|
|||
|
|
|
|||
|
|
wall_area = get_wall_area(img, stats, 400)
|
|||
|
|
wall_area[wall_area == 0] = 254
|
|||
|
|
wall_area[wall_area == 255] = 0
|
|||
|
|
wall_area[wall_area == 254] = 255
|
|||
|
|
wall_area_color = np.zeros((wall_area.shape[0], wall_area.shape[1], 3), np.uint8)
|
|||
|
|
wall_area_color[:, :, 0] = wall_area
|
|||
|
|
wall_area_color[:, :, 1] = wall_area
|
|||
|
|
wall_area_color[:, :, 2] = wall_area
|
|||
|
|
'提取房间'
|
|||
|
|
room_num_labels, room_labels, room_stats, room_centroids = cv2.connectedComponentsWithStats(wall_area,
|
|||
|
|
connectivity=8)
|
|||
|
|
|
|||
|
|
k = 0
|
|||
|
|
scene_legend = []
|
|||
|
|
|
|||
|
|
for i in range(2, room_num_labels):
|
|||
|
|
if room_stats[i, 4] < 200:
|
|||
|
|
continue
|
|||
|
|
room = np.zeros((wall_area.shape[0], wall_area.shape[1]))
|
|||
|
|
obj_label = []
|
|||
|
|
mask = room_labels == i
|
|||
|
|
room[:, :][mask] = 1
|
|||
|
|
Semantic_area = room * img
|
|||
|
|
# cv2.imshow('area', Semantic_area)
|
|||
|
|
# cv2.waitKey(1000)
|
|||
|
|
Semantic_area = list(Semantic_area.flatten())
|
|||
|
|
Semantic_area = list(set(Semantic_area))
|
|||
|
|
Semantic_area.sort()
|
|||
|
|
for i in range(len(Semantic_area)):
|
|||
|
|
if Semantic_area[i] in Intensity_value:
|
|||
|
|
obj_label.append(Intensity_value.index(Semantic_area[i]))
|
|||
|
|
# obj_label_test = [] # 用于测试
|
|||
|
|
scene = Scene(obj_label)
|
|||
|
|
print(scene)
|
|||
|
|
|
|||
|
|
# print(obj_label)
|
|||
|
|
if scene == 0:
|
|||
|
|
Semantic_map[:, :, 0][mask] = 70
|
|||
|
|
Semantic_map[:, :, 1][mask] = 80
|
|||
|
|
Semantic_map[:, :, 2][mask] = 90
|
|||
|
|
color = [70, 80, 90]
|
|||
|
|
if scene == 1:
|
|||
|
|
Semantic_map[:, :, 0][mask] = 100
|
|||
|
|
Semantic_map[:, :, 1][mask] = 180
|
|||
|
|
Semantic_map[:, :, 2][mask] = 120
|
|||
|
|
color = [100, 180, 120]
|
|||
|
|
if scene == 2:
|
|||
|
|
Semantic_map[:, :, 0][mask] = 210
|
|||
|
|
Semantic_map[:, :, 1][mask] = 67
|
|||
|
|
Semantic_map[:, :, 2][mask] = 170
|
|||
|
|
color = [210, 67, 170]
|
|||
|
|
if scene == 3:
|
|||
|
|
Semantic_map[:, :, 0][mask] = 150
|
|||
|
|
Semantic_map[:, :, 1][mask] = 48
|
|||
|
|
Semantic_map[:, :, 2][mask] = 88
|
|||
|
|
color = [150, 48, 88]
|
|||
|
|
# if scene == 4:
|
|||
|
|
# Semantic_map[:, :, 0][mask] = 134
|
|||
|
|
# Semantic_map[:, :, 1][mask] = 231
|
|||
|
|
# Semantic_map[:, :, 2][mask] = 143
|
|||
|
|
# color = [134, 231, 143]
|
|||
|
|
# if scene not in scene_legend:
|
|||
|
|
# scene_legend.append(scene)
|
|||
|
|
# Semantic_map = draw_legend(Semantic_map, scene, color, k)
|
|||
|
|
# k = k + 1
|
|||
|
|
Semantic_map = Semantic_map + wall_area_color
|
|||
|
|
return Semantic_map
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
img = cv2.imread("map.png", 0)
|
|||
|
|
cv2.flip(img, 0, img) # 图片翻转
|
|||
|
|
map = process_map(img, opt)
|
|||
|
|
'''
|
|||
|
|
对床、洗衣机和马桶自己赋语义
|
|||
|
|
'''
|
|||
|
|
# 床
|
|||
|
|
map[276:292, 212:224] = 203
|
|||
|
|
map[276:288, 282:296] = 203
|
|||
|
|
map[332:334, 208:210] = 255
|
|||
|
|
map[330:344, 210:220] = 203
|
|||
|
|
map[326:344, 282:294] = 203
|
|||
|
|
|
|||
|
|
# 洗衣机
|
|||
|
|
map[368:392, 438:448] = 118
|
|||
|
|
|
|||
|
|
# 马桶
|
|||
|
|
map[340:356, 428:448] = 120
|
|||
|
|
|
|||
|
|
# 袜子
|
|||
|
|
map[238:244, 531:533] = 201
|
|||
|
|
map[242:244, 529:533] = 201
|
|||
|
|
|
|||
|
|
# 电线
|
|||
|
|
map[259:263, 509:511] = 150
|
|||
|
|
map[261:263, 507:509] = 150
|
|||
|
|
|
|||
|
|
cv2.imwrite("mappp.jpg", map)
|
|||
|
|
Semantic_map = get_labels(map)
|
|||
|
|
output = obj_outline(map, Semantic_map, opt)
|
|||
|
|
|
|||
|
|
cv2.imwrite('output.png', output)
|
|||
|
|
cv2.namedWindow("output", 0)
|
|||
|
|
cv2.imshow("output", output)
|
|||
|
|
cv2.waitKey(0)
|