TITANIUM_PROPERTY_SETTER(View, annotations)
{
if (!argument.IsObject()) {
return false;
}
const auto annotations = static_cast<JSObject>(argument);
if (!annotations.IsArray()) {
return false;
}
set_annotations(static_cast<JSArray>(annotations).GetPrivateItems<Annotation>());
return true;
}
MetaData_YML_Backed* load_ICL(string base_path,string annotation,bool training)
{
// parse the annotation
vector<double> labels;
istringstream iss(annotation);
string filename; iss >> filename; // discard.
cout << "annotation " << annotation << endl;
cout << "filename " << filename << endl;
while(iss)
{
double v; iss >> v;
labels.push_back(v);
}
// calc the name for this metadata
string metadata_filename = base_path + filename;
// load the raw data
float active_min = training?0:params::MIN_Z();
string frame_file = base_path + filename;
Mat depth = imread(frame_file,-1);
assert(!depth.empty());
CustomCamera pxc_camera(params::H_RGB_FOV,params::V_RGB_FOV, depth.cols,depth.rows);
depth.convertTo(depth,DataType<float>::type);
depth /= 10;
for(int rIter = 0; rIter < depth.rows; ++rIter)
for(int cIter = 0; cIter < depth.cols; ++cIter)
{
float & d = depth.at<float>(rIter,cIter);
if(d <= active_min)
d = inf;
}
//depth = pointCloudToDepth(depth,pxc_camera);
if(depth.empty())
{
log_once(printfpp("ICL_Video cannot load %s",metadata_filename.c_str()));
log_once(printfpp("Couldn't open %s",frame_file.c_str()));
return nullptr;
}
//Mat RGB (depth.rows,depth.cols,DataType<Vec3b>::type,Scalar(122,150,233));
Mat RGB = imageeq("",depth,false,false);
for(int rIter = 0; rIter < RGB.rows; rIter++)
for(int cIter = 0; cIter < RGB.cols; cIter++)
RGB.at<Vec3b>(rIter,cIter)[2] = 255;
// create an image
shared_ptr<ImRGBZ> im =
make_shared<ImRGBZ>(RGB,depth,metadata_filename + "image",pxc_camera);
// create the metadata object
Metadata_Simple* metadata = new Metadata_Simple(metadata_filename+".yml",true,true,false);
metadata->setIm(*im);
Point2d hand_root(labels[0 + 0*3],labels[1 + 0*3]);
suppress_flood_fill_hack(im->Z,hand_root);
metadata->setIm(*im);
Rect handBB = set_annotations(metadata,labels,im);
suppress_most_common_pixel_hack(im->Z,handBB);
metadata->setIm(*im);
log_im_decay_freq("ICL_loaded",[&]()
{
return image_datum(*metadata);
});
return metadata;
}
