How to use windowXY method in fMBT

Best Python code snippet using fMBT_python

createAquarium.py

Source:createAquarium.py

1# coding=utf-82"""3SebastiÃ¡n Salinas, CC3501-Tarea3a 4Creating the aquarium via scene graph5"""6import numpy as np7import transformations as tr8import basic_shapes as bs9import scene_graph as sg10import easy_shaders as es11class aquarium():12    def __init__(self):13        self.posX = 0 # PosiciÃ³n en la manada en el eje X14        self.posY = 0 # PosiciÃ³n en la manada en el eje Y15        self.posZ = 0 # PosiciÃ³n en la manada en el eje Z16        self.localizacion = [0,0,0] # LocalizaciÃ³n en el mundo 3D17    def createAquariumEdges(self,x,y,z):18        # Basic GPUshapes 19        self.gpuBlackCube = es.toGPUShape(bs.createColorNormalsCube(0,0,0))  20        # Fierro base21        self.fierro = sg.SceneGraphNode("fierro")22        self.fierro.transform = tr.scale(1,1,1) 23        self.fierro.childs += [self.gpuBlackCube]24        # Creating 3 types of edges25        self.fierroX = sg.SceneGraphNode("fierroX")26        self.fierroX.transform = tr.scale(x,0.05,0.05)27        self.fierroX.childs += [self.fierro]28        self.fierroY = sg.SceneGraphNode("fierroY")29        self.fierroY.transform = tr.scale(0.05,y,0.05)30        self.fierroY.childs += [self.fierro]31        self.fierroZ = sg.SceneGraphNode("fierroZ")32        self.fierroZ.transform = tr.scale(0.05,0.05,z)33        self.fierroZ.childs += [self.fierro]34        35        # Creating the edges of the aquarium36        self.fierroX_1 = sg.SceneGraphNode("fierroX_1")37        self.fierroX_1.transform = tr.translate(0,0,0) 38        self.fierroX_1.childs += [self.fierroX]39        self.fierroX_2 = sg.SceneGraphNode("fierroX_2")40        self.fierroX_2.transform = tr.translate(0,-y,0) 41        self.fierroX_2.childs += [self.fierroX]42        self.fierroX_3 = sg.SceneGraphNode("fierroX_3")43        self.fierroX_3.transform = tr.translate(0,0,z) 44        self.fierroX_3.childs += [self.fierroX]45        self.fierroX_4 = sg.SceneGraphNode("fierroX_4")46        self.fierroX_4.transform = tr.translate(0,-y,z)  47        self.fierroX_4.childs += [self.fierroX]48        self.fierroY_1 = sg.SceneGraphNode("fierroY_1")49        self.fierroY_1.transform = tr.translate(-x/2,-y/2,0) 50        self.fierroY_1.childs += [self.fierroY]51        self.fierroY_2 = sg.SceneGraphNode("fierroY_2")52        self.fierroY_2.transform = tr.translate(x/2,-y/2,0)  53        self.fierroY_2.childs += [self.fierroY]54        self.fierroY_3 = sg.SceneGraphNode("fierroY_3")55        self.fierroY_3.transform = tr.translate(-x/2,-y/2,z)  56        self.fierroY_3.childs += [self.fierroY]57        self.fierroY_4 = sg.SceneGraphNode("fierroY_4")58        self.fierroY_4.transform = tr.translate(x/2,-y/2,z)59        self.fierroY_4.childs += [self.fierroY]60        self.fierroZ_1 = sg.SceneGraphNode("fierroZ_1")61        self.fierroZ_1.transform = tr.translate(-x/2,0,z/2)  62        self.fierroZ_1.childs += [self.fierroZ]63        self.fierroZ_2 = sg.SceneGraphNode("fierroZ_2")64        self.fierroZ_2.transform = tr.translate(x/2,0,z/2)  65        self.fierroZ_2.childs += [self.fierroZ]66        self.fierroZ_3 = sg.SceneGraphNode("fierroZ_3")67        self.fierroZ_3.transform = tr.translate(-x/2,-y,z/2)  68        self.fierroZ_3.childs += [self.fierroZ]69        self.fierroZ_4 = sg.SceneGraphNode("fierroZ_4")70        self.fierroZ_4.transform = tr.translate(x/2,-y,z/2)  71        self.fierroZ_4.childs += [self.fierroZ]72        # Juntar los edges en 3 tipos de marcos73        self.marcoX = sg.SceneGraphNode("marcoX")74        self.marcoX.transform = tr.identity()  75        self.marcoX.childs += [self.fierroX_1, self.fierroX_2, self.fierroX_3, self.fierroX_4]76        self.marcoY = sg.SceneGraphNode("marcoY")77        self.marcoY.transform = tr.identity()  78        self.marcoY.childs += [self.fierroY_1, self.fierroY_2, self.fierroY_3, self.fierroY_4]79        self.marcoZ = sg.SceneGraphNode("marcoZ")80        self.marcoZ.transform = tr.identity()81        self.marcoZ.childs += [self.fierroZ_1, self.fierroZ_2, self.fierroZ_3, self.fierroZ_4]82        # Creating the aquarium83        self.aquarium = sg.SceneGraphNode("aquarium")84        self.aquarium.transform = tr.identity() #tr.matmul([tr.translate(0,y/4,0),tr.scale(0.5,0.5,0.5)])85        self.aquarium.childs += [self.marcoX, self.marcoY, self.marcoZ]86        return self.aquarium87    def createAquariumWindows(self,x,y,z):88        # Basic GPUshapes  89        self.gpuCyanCube = es.toGPUShape(bs.createColorCube(0,206/255,209/255)) # darkturquoise rgb(0,206,209) -> (0,206/255,209/255)90        # ventana base91        self.window = sg.SceneGraphNode("window")92        self.window.transform = tr.scale(1,1,1) 93        self.window.childs += [self.gpuCyanCube]94        # Creating 3 types of windows95        self.windowXY = sg.SceneGraphNode("windowXY")96        self.windowXY.transform = tr.scale(x,y,0.05)97        self.windowXY.childs += [self.window]98        self.windowXZ = sg.SceneGraphNode("windowXZ")99        self.windowXZ.transform = tr.scale(x,0.05,z)100        self.windowXZ.childs += [self.window]101        self.windowYZ = sg.SceneGraphNode("windowYZ")102        self.windowYZ.transform = tr.scale(0.05,y,z)103        self.windowYZ.childs += [self.window]104        # Creating the windows of the aquarium105        self.windowXY_1 = sg.SceneGraphNode("windowXY_1")106        self.windowXY_1.transform = tr.translate(0,-y/2,0) 107        self.windowXY_1.childs += [self.windowXY]108        self.windowXY_2 = sg.SceneGraphNode("windowXY_2")109        self.windowXY_2.transform = tr.translate(0,-y/2,z) 110        self.windowXY_2.childs += [self.windowXY]111        self.windowXZ_1 = sg.SceneGraphNode("windowXZ_1")112        self.windowXZ_1.transform = tr.translate(0,0,z/2) 113        self.windowXZ_1.childs += [self.windowXZ]114        self.windowXZ_2 = sg.SceneGraphNode("windowXZ_2")115        self.windowXZ_2.transform = tr.translate(0,-y,z/2)  116        self.windowXZ_2.childs += [self.windowXZ]117        self.windowYZ_1 = sg.SceneGraphNode("windowYZ_1")118        self.windowYZ_1.transform = tr.translate(-x/2,-y/2,z/2) 119        self.windowYZ_1.childs += [self.windowYZ]120        self.windowYZ_2 = sg.SceneGraphNode("windowYZ_2")121        self.windowYZ_2.transform = tr.translate(x/2,-y/2,z/2)  122        self.windowYZ_2.childs += [self.windowYZ]123        # Creating the aquarium124        self.aquarium = sg.SceneGraphNode("aquarium")125        self.aquarium.transform = tr.identity() #tr.matmul([tr.translate(0,y/4,0),tr.scale(0.5,0.5,0.5)]) 126        self.aquarium.childs += [self.windowXY_1, self.windowXY_2,self.windowXZ_1, self.windowXZ_2, self.windowYZ_1, self.windowYZ_2]...

ppart3.py

Source:ppart3.py

1import cv22import numpy as np34import math567   89def createFilter(sigma, kernelSize):1011    kernel = np.zeros((kernelSize, kernelSize))12    s = 2 * (sigma * sigma)1314    for i in range(kernelSize):15        for j in range(kernelSize):16            r = math.sqrt(i ** 2 + j ** 2)17            kernel[i, j] = (math.exp(-(r * r) / s)) / (3.14 * s)1819    kernel /= np.sum(kernel)2021    return kernel2223def gaussianBlur(I):24    sigma = 225    kernel_size = 526    gaussianKernel = createFilter(sigma, kernel_size)27    rows, cols = I.shape28    blurred = I.copy()29    index = int(kernel_size / 2)30    for i in range(rows - kernel_size):31        for j in range(cols - kernel_size):32            window = I[i:i + kernel_size, j:j + kernel_size]33            temp = np.sum(np.multiply(window, gaussianKernel))34            if temp > 255:35                blurred[i:i + kernel_size, j:j + kernel_size][index][index] = 25536            elif temp < 0:37                blurred[i:i + kernel_size, j:j + kernel_size][index][index] = 038            else:39                blurred[i:i + kernel_size, j:j + kernel_size][index][index] = temp4041    return blurred4243def gradient(I):44    rows, cols = I.shape45    gx = np.zeros(I.shape)46    gy = np.zeros(I.shape)47    for i in range(rows):48        for j in range(cols):49            if i + 1 < rows and i - 1 >= 0:50                gx[i, j] = (int(I[i + 1, j]) - int(I[i - 1, j])) / 251            if j + 1 < cols and j - 1 >= 0:52                gy[i, j] = (int(I[i, j + 1]) - int(I[i, j - 1])) / 25354    return gx, gy5556def harris_corner(I, Ix, Iy, thresholdValue):57    rows, cols = I.shape58    I_WithCorner = I.copy()59    I_WithCorner = cv2.cvtColor(I_WithCorner, cv2.COLOR_GRAY2RGB)60    kernel_size = 361    Ixx = Ix ** 262    Iyy = Iy ** 263    Ixy = Ix * Iy64    k = 0.0465    index = int(kernel_size / 2)66    for i in range(index, rows - index):67        for j in range(index, cols - index):68            Windowxx = Ixx[i - index:i + index + 1, j - index:j + index + 1]69            Windowxy = Ixy[i - index:i + index + 1, j - index:j + index + 1]70            Windowyy = Iyy[i - index:i + index + 1, j - index:j + index + 1]71            Sxx = np.sum(Windowxx)72            Sxy = np.sum(Windowxy)73            Syy = np.sum(Windowyy)74            determinant = (Sxx * Syy) - (Sxy ** 2)75            trace = Sxx + Sxy76            R = determinant - k * (trace ** 2)7778            if R > thresholdValue:79                80                I_WithCorner = cv2.circle(I_WithCorner, (j, i), 3, (0, 0, 255), -1)81    return I_WithCorner8283im = cv2.imread("test.png", 0)84blurred_img = gaussianBlur(im)85im_x, im_y = gradient(blurred_img)8687threshold = 90000008889img_corner = harris_corner(blurred_img, im_x, im_y, threshold)90919293cv2.imshow("result.png", img_corner)94cv2.imwrite("part3.png",img_corner)95cv2.waitKey(0)
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HarrisCornerDetection.py

Source:HarrisCornerDetection.py

1import cv22import numpy as np34img = cv2.imread('C:\\Users\\ajayr\\Documents\\MyProjects\\AugmentoSteer\\testImages\\understanding opencv\\chess.jfif')5gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)6mY=np.array([[-1,-1,-1],[0,0,0],[1,1,1]])7mX=np.array([[-1,0,1],[-1,0,1],[-1,0,1]])8paddedArray = np.pad(gray, pad_width=1, mode='constant', constant_values=0)9finalImage=np.zeros((len((paddedArray)-4),len((paddedArray[0])-4)))10for i in range(len(paddedArray)-3):11    for j in range(len(paddedArray[0])-3):12        13        x=paddedArray[i:i+3,j:j+3]14        WindowX=np.multiply(x,mX)15        WindowY=np.multiply(x,mY)16        WindowXX=WindowX.dot(WindowX)17        sXX=np.sum(WindowXX)18        WindowYY=WindowY.dot(WindowY)19        sYY=np.sum(WindowYY)20        WindowXY=WindowX.dot(WindowY)21        sXY=np.sum(WindowXY)22        Det = (sXX*sYY)-(sXY**2)23        Trace = (sXX+sYY)24        k=0.0425        R = Det-(k*(Trace**2))26        if(R>0):27            finalImage[i,j]=R28        if(R<=0):29            finalImage[i,j]=030cv2.imshow('final',finalImage)31cv2.imshow('original',gray)32cv2.waitKey(0)33cv2.destroyAllWindows()
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