git-svn-id: http://newslabx.csie.ntu.edu.tw/svn/Ginger@34 5747cdd2-2146-426f-b2b0-0570f90b98ed

trunk/code/readGridEyeData.py

@@ -105,10 +105,12 @@ if __name__ == '__main__':
         
         # fixed overlap_h
         '''
+        
         maxProduct = 0
         overlaps = 125
         overlap_w = overlaps
         overlap_h = overlaps
+        '''
         product = sum(imgs[0][:,SIZE-overlaps:].astype(np.uint32)*imgs[1][:,:overlaps].astype(np.uint32))
         product += sum(imgs[2][:,SIZE-overlaps:].astype(np.uint32)*imgs[3][:,:overlaps].astype(np.uint32))
         product = sum(product) / len(product)
@@ -120,9 +122,10 @@ if __name__ == '__main__':
         product = sum(product) / len(product)
         maxProduct = product
         maxProduct = (tmp + maxProduct)/2
+        '''
         
-        
-        if maxProduct > PRODUCTION_THRESHOLD:
+        #if maxProduct > PRODUCTION_THRESHOLD:
+        if True:
             tmp = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
             tmp[:, :SIZE] = imgs[0]
             tmp[:, -SIZE:] += imgs[1]
@@ -137,7 +140,10 @@ if __name__ == '__main__':
             merge[:SIZE, :] = tmp
             merge[-SIZE:, :] += tmp2
             merge[(SIZE-overlap_h):SIZE, :] = merge[(SIZE-overlap_h):SIZE, :]/2
-            
+            offset_w = int(overlap_w/2)
+            offset_h = int(overlap_h/2)
+            out[SIZE*2+offset_h:SIZE*4-overlap_h+offset_h, offset_w: SIZE*2-overlap_w+offset_w] = merge
+            '''
             position = [0,0]
             rows,cols = merge.shape
 
@@ -148,9 +154,6 @@ if __name__ == '__main__':
             position[0] /= sum(sum(merge))
             position[1] /= sum(sum(merge))
             
-            offset_w = int(overlap_w/2)
-            offset_h = int(overlap_h/2)
-            out[SIZE*2+offset_h:SIZE*4-overlap_h+offset_h, offset_w: SIZE*2-overlap_w+offset_w] = merge
             pos_w = 1.17*position[0] #distanceBetweenSensors_w/(SIZE-overlap_w)*position[0]
             pos_h = 1.17*position[1] #distanceBetweenSensors_h/(SIZE-overlap_h)*position[1]
             if not hasPos:
@@ -181,6 +184,7 @@ if __name__ == '__main__':
             path.append(position)
             truePath.append(endPos)
             times.append(frames[0].time)
+            '''
         elif hasPos:
             if endTime - startTime > 0:
                 print (startPos, endPos)
@@ -196,6 +200,7 @@ if __name__ == '__main__':
         out = exponential(out, EXPONENTAL_VALUE)
         
         out = cv2.cvtColor(out,cv2.COLOR_GRAY2BGR)
+        '''
         if endTime - startTime > MIN_EXIST_TIME:
             speed = ((endPos[0]-startPos[0])**2+(endPos[1]-startPos[1])**2)**0.5/(endTime - startTime)
             cv2.putText(out, f'{speed:.2f}',
@@ -213,6 +218,7 @@ if __name__ == '__main__':
             hasLastFrame = True
         elif hasLastFrame:
             out[SIZE*2:,:] = lastFrame
+        '''
         cv2.imshow('sample', out)
         videoWriter.write(out)