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vis.py

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+import cv2
+import numpy as np
+
+import json
+import os
+
+from argparse import ArgumentParser as ArgParse
+
+# Color palette for lane visualization
+def getcolor(code):
+    if code == 1 :
+        return (0, 255, 255)
+    if code == 2:
+        return (0, 255, 0)
+    if code == 3:
+        return (255, 255, 0)
+    if code == 4:
+        return (255, 0, 0)
+    if code == 5:
+        return (0, 0, 255)
+    if code == 6:
+        return (45, 88, 200)
+    if code == 7:
+        return (200, 22, 100)
+
+def process(root_dir, json_file):
+
+    # Image visualizationz
+    #cv2.namedWindow("image", cv2.WND_PROP_FULLSCREEN)
+    #cv2.setWindowProperty("image",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
+    count = 1
+
+    # Open lane and class ground truth files
+    with open(root_dir + json_file, 'r') as file:
+        json_lines = file.readlines()
+        line_index = 0
+
+        # Iterate over each image
+        while line_index < len(json_lines):
+            json_line = json_lines[line_index]
+            i = 0
+            sample = json.loads(json_line)
+            lanes = sample['lanes']
+            raw_file = root_dir + sample['raw_file']
+            im = cv2.imread(raw_file)
+
+            # Display image and draw lane
+            while i < len(lanes):
+                polyline = []
+                for v in range(0, len(sample['h_samples']) - 1):
+
+                    point_h_begin = sample['h_samples'][v]
+                    point_h_end = sample['h_samples'][v + 1]
+                    point_w_begin = lanes[i][v]
+                    point_w_end = lanes[i][v + 1]
+
+                    if(point_w_begin != -2 and point_w_end != -2):
+                        cv2.circle(im, (point_w_begin, point_h_begin), 3, getcolor(i+1))
+                i += 1 
+            cv2.putText(im,'1',(0,40), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(1),2,cv2.LINE_AA)
+            cv2.putText(im,'2',(0,70), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(2),2,cv2.LINE_AA)
+            cv2.putText(im,'3',(0,100), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(3),2,cv2.LINE_AA)
+            cv2.putText(im,'4',(0,130), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(4),2,cv2.LINE_AA)
+            cv2.putText(im,'5',(0,170), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(5),2,cv2.LINE_AA)
+            cv2.putText(im,'6',(0,200), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(6),2,cv2.LINE_AA)
+            cv2.putText(im,'7',(0,230), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(7),2,cv2.LINE_AA)
+            cv2.putText(im,'Count: ' + str(count),(400,40), cv2.FONT_HERSHEY_SIMPLEX, 1,getcolor(7),2,cv2.LINE_AA)  
+
+            cv2.putText(im,'solid-yellow',(100,40), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)
+            cv2.putText(im,'solid-white',(100,70), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)
+            cv2.putText(im,'dashed',(100,100), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)
+            cv2.putText(im,'double-dashed',(100,130), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)
+            cv2.putText(im,'Botts\'-dots',(100,170), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)
+            cv2.putText(im,'double-solid-yellow',(100,200), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)
+            cv2.putText(im,'unknown',(100,230), cv2.FONT_HERSHEY_SIMPLEX, 1,(213, 22, 224),2,cv2.LINE_AA)  
+
+            cv2.imshow('image', im)
+
+
+            code = cv2.waitKey(4000)
+            # Code for navigation
+            # If z is pressed exit from the program
+            if code == ord('z'):
+                #closeall(output, file)
+                return
+            if code == ord('l'):
+                line_index += 100
+                count += 100
+                continue                
+            if code == ord('k'):
+                line_index += 50
+                count += 50
+                continue                
+            if code == ord('j'):
+                line_index += 20
+                count += 20
+                continue
+            if code == ord('h'):
+                line_index += 10
+                count += 10
+                continue
+            if code == ord('r'):
+                line_index -= 1
+                count -= 1
+                continue
+            count += 1
+            line_index += 1        
+
+
+if __name__=='__main__':
+    ap = ArgParse()
+    ap.add_argument('--root', type=str, default='/home/zillur/programs/datasets/tusimple/')
+    ap.add_argument('--labels', type=str, default='LVLane_train_sunny.json')
+
+    args = ap.parse_args()
+
+    process(args.root, args.labels)