

In [2]:

    
import cv2, numpy as np
from matplotlib import pyplot as plt
%matplotlib inline

Load Parameters



In [3]:

    
from utils import read_json

params = read_json('parameters.json')

RESIZE_X = params['resize']['x']
RESIZE_Y = params['resize']['y']
ITEM_FOLDER = params['item_folder']

Input Data

Image of the bin
Mask of recognised items
List of recognised items



In [4]:

    
bin_stamp = '170405145336'
contents = ["Colgate_Toothbrush_4PK","Epsom_Salts","Duct_Tape",
            "Bath_Sponge","Crayons","Burts_Bees_Baby_Wipes"]



In [5]:

    
bin_stamp = '170405145538'
contents = ["glue_sticks","tissue_box","laugh_out_loud_jokes",
            "toilet_brush","expo_eraser","table_cloth"]



In [6]:

    
contents = [s.lower() for s in contents]



In [7]:

    
from utils_io import imread_rgb, imread_gray, read_json

image_bin = imread_rgb('bin/' + bin_stamp + '.png')
image_mask = imread_gray('bin/' + bin_stamp + '_item_mask.pgm')
image_bin = cv2.bitwise_and(image_bin, image_bin, mask=image_mask)
plt.imshow(image_bin); plt.axis('off');
data = read_json('bin/' + bin_stamp + '_items.json')
recognised_items = [name for name, proj in data]
items = [item for item in contents if not item in recognised_items]
items









    Out[7]:





['glue_sticks', 'tissue_box', 'toilet_brush', 'table_cloth']



In [13]:

    
from utils_io import imread_gray
image_depth = imread_gray('bin/' + bin_stamp + '.pgm')
#plt.imshow(image_depth,cmap='gray'); plt.axis('off');
from utils_depth import fill_holes
image_depth = fill_holes(image_depth)
plt.imshow(image_depth,cmap='gray'); plt.axis('off');



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