run_resampling_experiment4.py

#  ================================================================
#  Created by Gregory Kramida on 1/22/19.
#  Copyright (c) 2019 Gregory Kramida
#  Licensed under the Apache License, Version 2.0 (the "License");
#  you may not use this file except in compliance with the License.
#  You may obtain a copy of the License at
#
#  http://www.apache.org/licenses/LICENSE-2.0
#
#  Unless required by applicable law or agreed to in writing, software
#  distributed under the License is distributed on an "AS IS" BASIS,
#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
#  See the License for the specific language governing permissions and
#  limitations under the License.
#  ================================================================

# stdlib
import sys

# libs
import numpy as np

# local
import tsdf.ewa as ewa
import tsdf.generation as gen
import experiment.dataset as data
import utils.visualization as viz

# =========
import cv2
import matplotlib.pyplot as plt

from calib.camerarig import DepthCameraRig

EXIT_CODE_SUCCESS = 0
EXIT_CODE_FAILURE = 1


def main():
    save_profile = False
    fraction_field = False

    image_path = "/media/algomorph/Data/Reconstruction/synthetic_data/zigzag2/input/depth_00108.png"
    z_offset = 0  # zigzag2 - 108

    voxel_size = 0.004
    field_size = 512
    rig = DepthCameraRig.from_infinitam_format(
        "/media/algomorph/Data/Reconstruction/synthetic_data/zigzag/inf_calib.txt")
    depth_camera = rig.depth_camera

    depth_image0 = cv2.imread(image_path, cv2.IMREAD_UNCHANGED)

    max_depth = np.iinfo(np.uint16).max
    depth_image0[depth_image0 == 0] = max_depth

    field = \
        ewa.sampling_area_heatmap_2d_ewa_image(depth_image0, depth_camera, 200,
                                               field_size=field_size,
                                               array_offset=np.array([-256, -256, z_offset]),
                                               voxel_size=voxel_size,
                                               gaussian_covariance_scale=0.5)
    # print(repr(field[103:119, 210:226]))
    # print(repr(field[102:120, 209:226]))

    field = field[0:40, 252:260].copy()
    print(field)

    field = field / field.max()
    viz.visualize_field(field, view_scaling_factor=2)

    return EXIT_CODE_SUCCESS


if __name__ == "__main__":
    sys.exit(main())