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daxoftdaxoft
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add threshold argument
1 parent 6501ccf commit d686cc2

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+51
-36
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1 file changed

+51
-36
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‎depth_test/depthtest.py‎

Lines changed: 51 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -2,16 +2,25 @@
22

33
import depthai as dai
44
import cv2
5-
import numpy
65
import serial
76
import numpy as np
87

98
from PyQt5 import QtCore, QtGui, QtWidgets
10-
from PyQt5.QtWidgets import QDialog, QAbstractSpinBox
119
import os
1210
import time
1311
from matplotlib import pyplot as plt
1412

13+
14+
def argument_parser():
15+
import argparse
16+
msg = "PyQT5 app for depth testing"
17+
parser = argparse.ArgumentParser(description=msg)
18+
msg = "Threshold error for 2m distance (in meters), default is 0.09"
19+
parser.add_argument('-t', '--threshold', type=float, default=0.09, help=msg)
20+
global THRESHOLD
21+
THRESHOLD = parser.parse_args().threshold
22+
23+
1524
colorMode = QtGui.QImage.Format_RGB888
1625
try:
1726
colorMode = QtGui.QImage.Format_BGR888
@@ -40,10 +49,10 @@ def setupUi(self, DepthTest):
4049
font.setPointSize(18)
4150
self.l_info.setFont(font)
4251
self.l_info.setStyleSheet("QLabel {\n"
43-
" .adjust-line-height {\n"
44-
" line-height: 1em;\n"
45-
" }\n"
46-
"}")
52+
" .adjust-line-height {\n"
53+
" line-height: 1em;\n"
54+
" }\n"
55+
"}")
4756
self.l_info.setObjectName("l_info")
4857
self.l_result = QtWidgets.QLabel(self.centralwidget)
4958
self.l_result.setGeometry(QtCore.QRect(110, 280, 101, 51))
@@ -196,17 +205,17 @@ def retranslateUi(self, DepthTest):
196205
_translate = QtCore.QCoreApplication.translate
197206
DepthTest.setWindowTitle(_translate("DepthTest", "Depth Test"))
198207
self.l_info.setText(_translate("DepthTest", "<html>\n"
199-
"<head/>\n"
200-
"<body>\n"
201-
"<div style=\"line-height:49px\">\n"
202-
"<p align=\"right\">\n"
203-
"LiDAR Depth:<br>\n"
204-
"fillRate:<br>\n"
205-
"gtPlaneRMSE:<br>\n"
206-
"planeFitMSE:<br>\n"
207-
"gtPlaneMSE:<br>\n"
208-
"planeFitRMSE:<br>\n"
209-
"pixelsNo:</span></p>"))
208+
"<head/>\n"
209+
"<body>\n"
210+
"<div style=\"line-height:49px\">\n"
211+
"<p align=\"right\">\n"
212+
"LiDAR Depth:<br>\n"
213+
"fillRate:<br>\n"
214+
"gtPlaneRMSE:<br>\n"
215+
"planeFitMSE:<br>\n"
216+
"gtPlaneMSE:<br>\n"
217+
"planeFitRMSE:<br>\n"
218+
"pixelsNo:</span></p>"))
210219
self.b_connect.setText(_translate("DepthTest", "Connect"))
211220
self.l_test.setText(_translate("DepthTest", "Depth Test"))
212221
self.l_lidar.setText(_translate("DepthTest", "-"))
@@ -313,7 +322,8 @@ def __init__(self, lrcheck, subpixel, extended, distortion, resolution):
313322
product = calib_obj.eepromToJson()['productMame']
314323
except KeyError:
315324
product = calib_obj.eepromToJson()['boardName']
316-
M_right = np.array(calib_obj.getCameraIntrinsics(calib_obj.getStereoRightCameraId(), self.resolution[0], self.resolution[1]))
325+
M_right = np.array(
326+
calib_obj.getCameraIntrinsics(calib_obj.getStereoRightCameraId(), self.resolution[0], self.resolution[1]))
317327
R2 = np.array(calib_obj.getStereoRightRectificationRotation())
318328
H_right_inv = np.linalg.inv(np.matmul(np.matmul(M_right, R2), np.linalg.inv(M_right)))
319329
global inter_conv
@@ -407,8 +417,8 @@ def get_roi(self):
407417
if self.p1 is None and self.p2 is None:
408418
return None, None
409419
resolution = self.camera.get_resolution()
410-
sbox = [int(self.p1[0]*resolution[0]/self.width), int(self.p1[1]*resolution[1]/self.height)]
411-
ebox = [int(self.p2[0]*resolution[0]/self.width), int(self.p2[1]*resolution[1]/self.height)]
420+
sbox = [int(self.p1[0] * resolution[0] / self.width), int(self.p1[1] * resolution[1] / self.height)]
421+
ebox = [int(self.p2[0] * resolution[0] / self.width), int(self.p2[1] * resolution[1] / self.height)]
412422
if sbox[0] > ebox[0]:
413423
sbox[0], ebox[0] = ebox[0], sbox[0]
414424
if sbox[1] > ebox[1]:
@@ -542,8 +552,8 @@ def search_depth(x, y, depth):
542552
def fit_plane_LTSQ(XYZ):
543553
(rows, cols) = XYZ.shape
544554
G = np.ones((rows, 3))
545-
G[:, 0] = XYZ[:, 0] #X
546-
G[:, 1] = XYZ[:, 1] #Y
555+
G[:, 0] = XYZ[:, 0] # X
556+
G[:, 1] = XYZ[:, 1] # Y
547557
Z = XYZ[:, 2]
548558
(a, b, c), resid, rank, s = np.linalg.lstsq(G, Z, rcond=None)
549559
normal = (a, b, -1)
@@ -587,7 +597,7 @@ def __init__(self):
587597
self.timer = QtCore.QTimer()
588598
self.timer.timeout.connect(self.timer_event)
589599
# self.timer.start(1000 // 30)
590-
try: #TODO Find a way to scan for USB ports
600+
try: # TODO Find a way to scan for USB ports
591601
self.serial_reader = serial.Serial("/dev/ttyUSB0", 115200)
592602
except:
593603
self.serial_reader = None
@@ -637,7 +647,9 @@ def button_event(self):
637647
self.ui.c_ir.setDisabled(True)
638648
self.ui.b_export.setDisabled(True)
639649
else:
640-
self.scene.get_frame().enable_camera(self.ui.c_lrcheck.isChecked(), self.ui.c_subpixel.isChecked(), self.ui.c_extended.isChecked(), self.ui.c_distrotion.isChecked(), self.ui.combo_res.currentText())
650+
self.scene.get_frame().enable_camera(self.ui.c_lrcheck.isChecked(), self.ui.c_subpixel.isChecked(),
651+
self.ui.c_extended.isChecked(), self.ui.c_distrotion.isChecked(),
652+
self.ui.combo_res.currentText())
641653
self.count = 0
642654
self.pass_count = 0
643655
self.fail_count = 0
@@ -699,7 +711,7 @@ def calculate_errors(self):
699711
sbox, ebox = self.scene.get_frame().get_roi()
700712
if sbox is None or ebox is None:
701713
return False
702-
self.pixels_no = (ebox[0]-sbox[0])*(ebox[1]-sbox[1])
714+
self.pixels_no = (ebox[0] - sbox[0]) * (ebox[1] - sbox[1])
703715
depth_roi = depth_frame[sbox[1]:ebox[1], sbox[0]:ebox[0]]
704716
coord = pixel_coord_np(*sbox, *ebox)
705717
# Removing Zeros from coordinates
@@ -708,8 +720,11 @@ def calculate_errors(self):
708720
# Removing outliers from Z coordinates. top and bottoom 0.5 percentile of valid depth
709721
try:
710722
valid_cam_coords = np.delete(cam_coords, np.where(cam_coords[2, :] == 0.0), axis=1)
711-
valid_cam_coords = np.delete(valid_cam_coords, np.where(valid_cam_coords[2, :] <= np.percentile(valid_cam_coords[2, :], 0.5)), axis=1)
712-
valid_cam_coords = np.delete(valid_cam_coords, np.where(valid_cam_coords[2, :] >= np.percentile(valid_cam_coords[2, :], 99.5)), axis=1)
723+
valid_cam_coords = np.delete(valid_cam_coords,
724+
np.where(valid_cam_coords[2, :] <= np.percentile(valid_cam_coords[2, :], 0.5)),
725+
axis=1)
726+
valid_cam_coords = np.delete(valid_cam_coords, np.where(
727+
valid_cam_coords[2, :] >= np.percentile(valid_cam_coords[2, :], 99.5)), axis=1)
713728
except IndexError:
714729
return
715730

@@ -746,7 +761,7 @@ def calculate_errors(self):
746761
absolute_error += gt_plane_dist
747762
planeR_ms_offset_rror += fitPlaneDist ** 2
748763
gtR_ms_offset_error += gt_plane_dist ** 2
749-
764+
750765
self.plane_fit_mse = plane_offset_error / valid_cam_coords.shape[1]
751766
self.gt_plane_mse = absolute_error / valid_cam_coords.shape[1]
752767
self.plane_fit_rmse = np.sqrt(planeR_ms_offset_rror / valid_cam_coords.shape[1])
@@ -823,10 +838,10 @@ def timer_event(self):
823838
if self.count < 30:
824839
self.gt_plane_rmse_avg += self.gt_plane_rmse / 30
825840
self.gt_plane_rmse_arr.append(self.gt_plane_rmse_avg)
826-
self.fill_plane_avg += self.fill_rate/30
827-
self.plane_fit_mse_avg += self.plane_fit_mse/30
828-
self.gt_plane_mse_avg += self.gt_plane_mse/30
829-
self.plane_fit_rmse_avg += self.plane_fit_rmse/30
841+
self.fill_plane_avg += self.fill_rate / 30
842+
self.plane_fit_mse_avg += self.plane_fit_mse / 30
843+
self.gt_plane_mse_avg += self.gt_plane_mse / 30
844+
self.plane_fit_rmse_avg += self.plane_fit_rmse / 30
830845
self.count += 1
831846
else:
832847
self.ui.l_fill_rate.setText(f'{self.fill_plane_avg}')
@@ -847,11 +862,11 @@ def timer_event(self):
847862
self.plane_fit_rmse_avg = 0
848863
self.gt_plane_rmse_med = np.median(self.gt_plane_rmse_arr)
849864
if self.true_distance <= 1:
850-
error_threshold = 0.03
865+
error_threshold = THRESHOLD/2
851866
elif self.true_distance >= 2:
852-
error_threshold = 0.06
867+
error_threshold = THRESHOLD
853868
else:
854-
error_threshold = self.true_distance*0.03
869+
error_threshold = self.true_distance * THRESHOLD/2
855870
if self.gt_plane_rmse_res < error_threshold and self.fill_plane_res > 0.98:
856871
self.set_result('PASS')
857872
else:
@@ -861,7 +876,7 @@ def timer_event(self):
861876

862877
if __name__ == "__main__":
863878
import sys
864-
879+
argument_parser()
865880
app = QtWidgets.QApplication(sys.argv)
866881
class_instance = Application()
867882
class_instance.show()

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