Adding targets for night time and far away daytime
Also fixed a couple lines that weren't printing properly in switch from
print to glog
Change-Id: I43c4bb82e171678595ae19a3282538b34a90ec7f
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2020/vision/tools/python_code/target_definition.py b/y2020/vision/tools/python_code/target_definition.py
index 900c72a..e2556d6 100644
--- a/y2020/vision/tools/python_code/target_definition.py
+++ b/y2020/vision/tools/python_code/target_definition.py
@@ -197,6 +197,113 @@
training_target_power_port_taped.target_radius = target_radius_default
###
+ ### Taped power port -- far away image
+ ###
+
+ # Create the reference "ideal" image.
+ # NOTE: Since we don't have an "ideal" (e.g., graphic) version, we're
+ # just using the same image as the training image.
+ ideal_power_port_taped_far = TargetData(
+ 'test_images/partial_971_power_port_red_daytime_far.png')
+
+ # Start at lower left corner, and work around clockwise
+ # These are taken by manually finding the points in gimp for this image
+ power_port_taped_far_main_panel_polygon_points_2d = [
+ (259, 363), (255, 230), (178, 234), (255, 169), (329, 164), (334, 225),
+ (341, 361)
+ ]
+
+ # These are "virtual" 3D points based on the expected geometry
+ power_port_taped_far_main_panel_polygon_points_3d = [
+ (-field_length / 2., c_power_port_edge_y, 0.),
+ (-field_length / 2., c_power_port_edge_y,
+ c_power_port_bottom_wing_height),
+ (-field_length / 2., c_power_port_edge_y - c_power_port_wing_width,
+ c_power_port_bottom_wing_height),
+ (-field_length / 2., c_power_port_edge_y, c_power_port_total_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width,
+ c_power_port_total_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width,
+ c_power_port_bottom_wing_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width, 0.)
+ ]
+
+ # Populate the taped power port
+ ideal_power_port_taped_far.polygon_list.append(
+ power_port_taped_far_main_panel_polygon_points_2d)
+ ideal_power_port_taped_far.polygon_list_3d.append(
+ power_port_taped_far_main_panel_polygon_points_3d)
+
+ # Location of target. Rotation is pointing in -x direction
+ ideal_power_port_taped_far.target_rotation = -np.identity(3, np.double)
+ ideal_power_port_taped_far.target_position = np.array([
+ -field_length / 2., c_power_port_edge_y + c_power_port_width / 2.,
+ c_power_port_target_height
+ ])
+ ideal_power_port_taped_far.target_point_2d = np.float32(
+ [[294, 198]]).reshape(-1, 1,
+ 2) # partial_971_power_port_red_daytime.png
+
+ training_target_power_port_taped_far = TargetData(
+ 'test_images/partial_971_power_port_red_daytime_far.png')
+ training_target_power_port_taped_far.target_rotation = ideal_power_port_taped_far.target_rotation
+ training_target_power_port_taped_far.target_position = ideal_power_port_taped_far.target_position
+ training_target_power_port_taped_far.target_radius = target_radius_default
+
+ ###
+ ### Taped power port night image
+ ###
+
+ # Create the reference "ideal" image.
+ # NOTE: Since we don't have an "ideal" (e.g., graphic) version, we're
+ # just using the same image as the training image.
+ ideal_power_port_taped_night = TargetData(
+ 'test_images/partial_971_power_port_red_nighttime.png')
+
+ # Start at lower left corner, and work around clockwise
+ # These are taken by manually finding the points in gimp for this image
+ power_port_taped_night_main_panel_polygon_points_2d = [
+ (217, 425), (215, 187), (78, 189), (212, 80), (344, 74), (347, 180),
+ (370, 421)
+ ]
+
+ # These are "virtual" 3D points based on the expected geometry
+ power_port_taped_night_main_panel_polygon_points_3d = [
+ (-field_length / 2., c_power_port_edge_y, 0.),
+ (-field_length / 2., c_power_port_edge_y,
+ c_power_port_bottom_wing_height),
+ (-field_length / 2., c_power_port_edge_y - c_power_port_wing_width,
+ c_power_port_bottom_wing_height),
+ (-field_length / 2., c_power_port_edge_y, c_power_port_total_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width,
+ c_power_port_total_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width,
+ c_power_port_bottom_wing_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width, 0.)
+ ]
+
+ # Populate the taped power port
+ ideal_power_port_taped_night.polygon_list.append(
+ power_port_taped_night_main_panel_polygon_points_2d)
+ ideal_power_port_taped_night.polygon_list_3d.append(
+ power_port_taped_night_main_panel_polygon_points_3d)
+
+ # Location of target. Rotation is pointing in -x direction
+ ideal_power_port_taped_night.target_rotation = -np.identity(3, np.double)
+ ideal_power_port_taped_night.target_position = np.array([
+ -field_length / 2., c_power_port_edge_y + c_power_port_width / 2.,
+ c_power_port_target_height
+ ])
+ ideal_power_port_taped_night.target_point_2d = np.float32(
+ [[282, 132]]).reshape(-1, 1, 2) # partial_971_power_port_red_night.png
+
+ training_target_power_port_taped_night = TargetData(
+ 'test_images/partial_971_power_port_red_nighttime.png')
+ training_target_power_port_taped_night.target_rotation = ideal_power_port_taped_night.target_rotation
+ training_target_power_port_taped_night.target_position = ideal_power_port_taped_night.target_position
+ training_target_power_port_taped_night.target_radius = target_radius_default
+
+ ###
### Red Power Port
###
@@ -431,10 +538,23 @@
ideal_target_list.append(ideal_power_port_taped)
training_target_list.append(training_target_power_port_taped)
+ ### Taped power port far
+ glog.info(
+ "Adding hacked/taped up far away view of the power port to the model list"
+ )
+ ideal_target_list.append(ideal_power_port_taped_far)
+ training_target_list.append(training_target_power_port_taped_far)
+
+ ### Taped power port night
+ glog.info(
+ "Adding hacked/taped up of the power port at night to the model list")
+ ideal_target_list.append(ideal_power_port_taped_night)
+ training_target_list.append(training_target_power_port_taped_night)
+
### Red Power Port
- glog.info("Adding red power port to the model list")
- ideal_target_list.append(ideal_power_port_red)
- training_target_list.append(training_target_power_port_red)
+ #glog.info("Adding red power port to the model list")
+ #ideal_target_list.append(ideal_power_port_red)
+ #training_target_list.append(training_target_power_port_red)
### Red Loading Bay
#glog.info("Adding red loading bay to the model list")
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_daytime_far.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_daytime_far.png
new file mode 100644
index 0000000..c91d26f
--- /dev/null
+++ b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_daytime_far.png
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
index ec402c0..6f4a54c 100644
--- a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
+++ b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
Binary files differ
diff --git a/y2020/vision/tools/python_code/train_and_match.py b/y2020/vision/tools/python_code/train_and_match.py
index 5f895bb..ef26ced 100644
--- a/y2020/vision/tools/python_code/train_and_match.py
+++ b/y2020/vision/tools/python_code/train_and_match.py
@@ -208,7 +208,7 @@
# Also shows image with query unwarped (to match training image) and target pt
def show_results(training_images, train_keypoint_lists, query_images,
query_keypoint_lists, target_point_list, good_matches_list):
- glog.info("Showing results for ", len(training_images), " training images")
+ glog.info("Showing results for %d training images" % len(training_images))
homography_list, matches_mask_list = compute_homographies(
train_keypoint_lists, query_keypoint_lists, good_matches_list)
@@ -219,14 +219,14 @@
glog.debug("Showing results for model ", i)
matches_mask_count = matches_mask_list[i].count(1)
if matches_mask_count != len(good_matches):
- glog.info("Homography rejected some matches! From ",
- len(good_matches), ", only ", matches_mask_count,
- " were used")
+ glog.info(
+ "Homography rejected some matches! From %d, only %d were used"
+ % (len(good_matches), matches_mask_count))
if matches_mask_count < MIN_MATCH_COUNT:
glog.info(
- "Skipping match because homography rejected matches down to below ",
- MIN_MATCH_COUNT)
+ "Skipping match because homography rejected matches down to below %d "
+ % MIN_MATCH_COUNT)
continue
# Create a box based on the training image to map onto the query img
