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mv2pygame.py
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mv2pygame.py
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"""
convert mv vectors from H.264 codec to pygame image
usage:
mv2pygame.py <input file>
"""
import sys
from mv2pgm import pictureOffsetG
from collections import defaultdict
from itertools import izip
from h264nav import absPic, averageShift, subShift, estMovement, compensateMovement, THRESHOLD
import pygame
from pygame.locals import *
LOW_THRESHOLD = 10
NUM_MERGE = 1 # 3 # number of motion pictures to merge
def zeroPic():
return absPic([])
def addPic( pic1, pic2 ):
"return sumup picture"
pic = []
for row1,row2 in izip(pic1,pic2):
row = []
for (x1,y1),(x2,y2) in izip(row1,row2):
row.append( (x1+x2,y1+y2) )
pic.append( row )
return pic
def histogram( pictureArray, verbose=False ):
hist = defaultdict(int)
for row in pictureArray:
for (mx,my) in row:
hist[ (mx,my) ] += 1
if verbose:
print "%d\t%d" % (mx,my)
assert mx%2 == 0 and my %2 == 0, str( (mx,my) )
return hist
def printDict( d ):
print 1000, [(k,v) for k,v in d.items() if v >= 1000]
print 100, [(k,v) for k,v in d.items() if 1000 > v >= 100]
print 10, [(k,v) for k,v in d.items() if 100 > v >= 10]
# print 1, [(k,v) for k,v in d.items() if 10 > v >= 1]
print
def scr( x, y ):
return ( 8+x*16, 8+y*16 )
def drawArrows( foreground, left, right, up, down ):
"arrow based on _obstacles_ statistics"
print "ARROW", left, right, up, down
MAX_COUNT = 1000
MIN_STEP = 100
assert left+right == up + down, (left, right, up, down)
if left+right > MAX_COUNT:
return # too red, no idea what to do
if down > up + MIN_STEP:
# move up
pygame.draw.line( foreground, (0,255,0), scr(40,10), scr(45,20), 10)
pygame.draw.line( foreground, (0,255,0), scr(40,10), scr(35,20), 10)
if up > down + MIN_STEP:
# move down
pygame.draw.line( foreground, (0,255,0), scr(40,35), scr(45,25), 10)
pygame.draw.line( foreground, (0,255,0), scr(40,35), scr(35,25), 10)
if right > left + MIN_STEP:
# move left
pygame.draw.line( foreground, (0,255,0), scr(10,22), scr(20,27), 10)
pygame.draw.line( foreground, (0,255,0), scr(10,22), scr(20,17), 10)
if left > right + MIN_STEP:
# move right
pygame.draw.line( foreground, (0,255,0), scr(70,22), scr(60,27), 10)
pygame.draw.line( foreground, (0,255,0), scr(70,22), scr(60,17), 10)
def pygameTest( picGen, filename=None ):
size = (16*80,16*45)
pygame.init()
screen = pygame.display.set_mode(size)
background = pygame.Surface(screen.get_size())
background.set_colorkey((0,0,0))
foreground = pygame.Surface(screen.get_size())
foreground.set_colorkey((0,0,0))
screen.blit(background, (0, 0))
for pic, index in picGen:
foreground = pygame.image.load("m:\\git\\cvdrone\\build\\vs2008\\img_%04d.jpg" % index )
# if index/3 == 126:
# open("tmp126.txt", "w").write( str(pic) )
shift = averageShift( pic )
pic = subShift( pic, shift )
coefs = estMovement( pic )
print index/NUM_MERGE, coefs[0][0], coefs[1][0]
pic = compensateMovement( pic, coefs )
count = 0
left,right,up,down = 0,0,0,0 # obstacle at
for x in xrange(80):
for y in xrange(45):
mx, my = pic[x][y]
if mx != 0 and my != 0: # and x % 2 == 0 and y % 2 == 0:
d = abs(mx)+abs(my)
if d > THRESHOLD:
pygame.draw.circle( foreground, (255,0,0), scr(x,y), 10 )
count += 1
if x < 40:
left += 1
else:
right += 1
if y < 22:
up += 1
else:
down += 1
elif d > LOW_THRESHOLD:
pygame.draw.circle( foreground, (255,0,0), scr(x,y), 3 )
# pygame.draw.circle( foreground, (255,0,0), scr(x-mx/64,y-my/64), 3 )
pygame.draw.line( foreground, (255,255,0), scr(x,y), scr(x+mx/64.0,y+my/64.0),2)
# pygame.draw.line( foreground, (255,255,0), scr(x,y), scr(x-mx/64.0,y-my/64.0),2)
print "QUEUE", (left, right, up, down)
drawArrows( foreground, left, right, up, down )
pygame.display.set_caption("Index: %d, (%d,%d) - %d" % (index/NUM_MERGE, shift[0], shift[1], count) )
if pygame.event.peek([QUIT,KEYDOWN]):
event = pygame.event.wait()
while event.type != KEYDOWN:
print event
event = pygame.event.wait()
if event.key in [K_p]:
print "PAUSE"
pygame.event.wait()
print event
while event.type != KEYDOWN or event.key == K_p:
print event
event = pygame.event.wait()
continue
if event.type == QUIT:
break
if event.type == KEYDOWN:
if event.key in (K_ESCAPE,K_q):
break
filename = "pic/xtest_%04d.jpg" % (index/NUM_MERGE)
if filename:
pygame.image.save( foreground, filename )
screen.blit(background, (0, 0))
screen.blit(foreground, (0, 0))
pygame.display.flip()
pygame.time.wait(1)
def genNpic( filename, num ):
pic = zeroPic()
for picList,index in izip(pictureOffsetG(filename), xrange(1000)):
pic = addPic( pic, absPic( picList ) )
if index % num == num-1:
yield pic, index
pic = zeroPic()
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
filename = sys.argv[1]
pygameTest( genNpic(filename, NUM_MERGE) )
# pygameTest( pic, "pic/test_%04d.png" % index )
# printDict( histogram( pic ) )