From 0382a646f25265cc9db1f036546a32d7cb32bc17 Mon Sep 17 00:00:00 2001
From: Gduret <guillaume.duret@ec-lyon.fr>
Date: Thu, 2 Mar 2023 14:15:55 +0100
Subject: [PATCH] add 3D bbox size
---
bbox_3d.py | 7 ++-----
compute_features.py | 23 ++++++++---------------
main.py | 44 ++++++++++++++++++++++++++++----------------
prepare_data.py | 5 +++++
test_resize.py | 1 -
utils.py | 5 ++++-
6 files changed, 47 insertions(+), 38 deletions(-)
diff --git a/bbox_3d.py b/bbox_3d.py
index 7f0241b..d0e0604 100644
--- a/bbox_3d.py
+++ b/bbox_3d.py
@@ -1,7 +1,6 @@
import numpy as np
-
-def get_bbox(ext):
+def get_3D_bbox(ext):
pcd_bbox = np.array([
[ext[0], ext[1], ext[2]],
[- ext[0], ext[1], ext[2]],
@@ -12,17 +11,15 @@ def get_bbox(ext):
[ext[0], - ext[1], - ext[2]],
[- ext[0], - ext[1], - ext[2]]
])
-
return pcd_bbox
-
def generate_3d_bbox(data_name):
objs = {"Banana": [0.029497003182768822, 0.15110498666763306, 0.060593008995056152],
"Orange": [0.073495000600814819, 0.075856998562812805, 0.074581995606422424],
"Pear": [0.066010989248752594, 0.12873399630188942, 0.06739199161529541]}
for key, val in objs.items():
ext = [x / 2 for x in val]
- bbox = get_bbox(ext)
+ bbox = get_3D_bbox(ext)
np.savetxt(f'{data_name}/Generated/Bbox/{key}_bbox_3d.txt', bbox)
# print(ext)
diff --git a/compute_features.py b/compute_features.py
index af05403..a252f82 100644
--- a/compute_features.py
+++ b/compute_features.py
@@ -15,21 +15,6 @@ from fps_alg import process2
import os
-def updateJsonFile():
- jsonFile = open("replayScript.json", "r") # Open the JSON file for reading
- data = json.load(jsonFile) # Read the JSON into the buffer
- jsonFile.close() # Close the JSON file
-
- ## Working with buffered content
- tmp = data["location"]
- data["location"] = path
- data["mode"] = "replay"
-
- ## Save our changes to JSON file
- jsonFile = open("replayScript.json", "w+")
- jsonFile.write(json.dumps(data))
- jsonFile.close()
-
def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, World_begin, Nb_world, list_categories, occ_target, vis):
transformation = np.matrix([[0.0000000, -1.0000000, 0.0000000],
@@ -56,6 +41,8 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
with open(f"{data_name}/Bbox_2d/{p}.json", 'r') as f:
data_Bbox_2d = json.load(f)
+ with open(f"{data_name}/Bbox_3d/{p}.json", 'r') as f:
+ data_Bbox_3d = json.load(f)
if len(data_Bbox_2d) != len(data_3D_pose) :
raise TypeError("size of datas are differents !!")
@@ -124,6 +111,12 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
else:
continue
+ if data_Bbox_3d[k]['id'] == catergories_occ_array[categories][0]:
+ bbox3d_size = data_Bbox_3d[k]['bbox']['size']
+ np.savetxt(f'{data_name}/Generated/{categories}/Bbox_3d_Gen/{p}.txt', bbox3d_size) # save
+ else:
+ continue
+
id = catergories_occ_array[categories][0]
img = cv2.imread(f"{data_name}/Instance_Segmentation/{p}.png", cv2.IMREAD_UNCHANGED) # plt.imread(path)
diff --git a/main.py b/main.py
index 1798bc5..1642cbf 100644
--- a/main.py
+++ b/main.py
@@ -19,11 +19,11 @@ def generate_folders(name, list_categories):
is_exist = os.path.exists(name)
if not is_exist:
os.mkdir(name)
- folders = ["RGB", "RGB_Gen", "RGB_resized", "Meta_Gen", "Depth", "Mask", "Meta", "Pose", "Bbox_2d", "Bbox_2d_loose", "Bbox_3d", "Instance_Segmentation", "Semantic_Segmentation", "Instance_Mask", "Instance_Mask_resized", "Occlusion", "Models", "Pose_transformed", "Bbox", "FPS", "FPS_resized"]
+ folders = ["RGB", "RGB_Gen", "RGB_resized", "Meta_Gen", "Depth", "Mask", "Meta", "Pose", "Bbox_2d", "Bbox_2d_loose", "Bbox_3d", "Bbox_3d_Gen", "Instance_Segmentation", "Semantic_Segmentation", "Instance_Mask", "Instance_Mask_resized", "Occlusion", "Models", "Pose_transformed", "Bbox", "FPS", "FPS_resized"]
for f in folders:
is_exist = os.path.exists(f"{name}/{f}")
if not is_exist:
- if f not in ["RGB_Gen", "RGB_resized", "Instance_Mask", "Instance_Mask_resized", "Meta_Gen", "Models", "Pose_transformed", "Bbox", "FPS" , "FPS_resized"]:
+ if f not in ["RGB_Gen", "RGB_resized", "Instance_Mask", "Instance_Mask_resized", "Meta_Gen", "Models", "Pose_transformed", "Bbox", "Bbox_3d_Gen", "FPS" , "FPS_resized"]:
os.mkdir(f"{name}/{f}")
else:
for cat in list_categories:
@@ -31,7 +31,6 @@ def generate_folders(name, list_categories):
if not is_exist2:
os.makedirs(f"{name}/Generated/{cat}/{f}")
-
def calc_pts_diameter2(pts):
"""Calculates the diameter of a set of 3D points (i.e. the maximum distance
between any two points in the set). Faster but requires more memory than
@@ -43,10 +42,6 @@ def calc_pts_diameter2(pts):
diameter = np.max(dists)
return diameter
-
-
-
-
if __name__ == '__main__':
# Create the parser
@@ -104,6 +99,17 @@ if __name__ == '__main__':
reform_data(dataset_src, dataset_name, dataset_type, Nb_camera, args.World_begin, args.Nb_worlds)
+ list_categories = ["banana1", "kiwi1", "pear2", "strawberry1", "apricot", "orange2", "peach1", "lemon2", "apple2" ]
+
+ objs = {"banana1": [ 0.02949700132012367249, 0.1511049866676330566, 0.06059300713241100311 ],
+ "kiwi1": [ 0.04908600077033042908, 0.07206099480390548706, 0.04909799993038177490 ],
+ "pear2": [ 0.06601099669933319092, 0.1287339925765991211, 0.06739201396703720093 ],
+ "strawberry1": [0.01698100194334983826, 0.02203200198709964752, 0.01685700193047523499],
+ "apricot": [0.04213499650359153748, 0.05482299625873565674, 0.04333199933171272278],
+ "orange2": [ 0.07349500805139541626, 0.07585700601339340210, 0.07458199560642242432 ],
+ "peach1": [ 0.07397901266813278198, 0.07111301273107528687, 0.07657301425933837891 ],
+ "lemon2": [0.04686100035905838013, 0.04684200137853622437, 0.07244800776243209839],
+ "apple2": [0.05203099921345710754, 0.04766000062227249146, 0.05089000239968299866]}
for categories in list_categories:
point_cloud = f"Models/{categories}/{categories.lower()}.ply"
@@ -124,26 +130,32 @@ if __name__ == '__main__':
np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_diameter.txt', np.array([dim]))
+ size_bb = objs[categories]
- # catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id, catergories_label_to_id = compute_categories_id(dataset_name, 1)
- # print(f'{dataset_name}/Bbox_3d/1.json')
- # with open(f"{dataset_name}/Bbox_3d/1.json", 'r') as f:
+ ext = [x / 2 for x in size_bb]
+ bbox = get_3D_bbox(ext)
+ np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_bbox_3d.txt', bbox) # save
+
+ # json_num = 2
+ # catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id, catergories_label_to_id = compute_categories_id(dataset_name, json_num)
+ # print(f'{dataset_name}/Bbox_3d/{json_num}.json')
+ # with open(f"{dataset_name}/Bbox_3d/{json_num}.json", 'r') as f:
# data_Bbox_3d = json.load(f)
- # catergories_occ_array = compute_id_good_occ(dataset_name, 1, catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id, 1)
+ # print("catergories_instance_array_cat_to_id : ", catergories_instance_array_cat_to_id)
+ # print("data_Bbox_3d : ", data_Bbox_3d)
- # print(catergories_occ_array)
# for k in range(len(data_Bbox_3d)):
-
- # if data_Bbox_3d[k]['id'] in catergories_occ_array[categories]:
- # size_bb = data_Bbox_3d[k]["size"]
+ # if data_Bbox_3d[k]['id'] in catergories_instance_array_cat_to_id[categories]:
+ # print(data_Bbox_3d)
+ # size_bb = data_Bbox_3d[k]["bbox"]["size"]
# ext = [x / 2 for x in size_bb]
# bbox = get_3D_bbox(ext)
# np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_bbox_3d.txt', bbox) # save
# break
- process_compute(dataset_name, camera, new_camera, new_size, Nb_camera, args.World_begin, args.Nb_worlds, list_categories, occ_target, True)
+ process_compute(dataset_name, camera, new_camera, new_size, Nb_camera, args.World_begin, args.Nb_worlds, list_categories, occ_target, False)
#transform_pose(dataset_name, Nb_camera, Nb_world, list_categories, occ_target)
#generate_2d_bbox(dataset_name, Nb_camera, Nb_world, list_categories, occ_target)
#generate_instance_mask(dataset_name, Nb_camera, Nb_world, list_categories, occ_target)
diff --git a/prepare_data.py b/prepare_data.py
index 1641a78..8830d80 100644
--- a/prepare_data.py
+++ b/prepare_data.py
@@ -48,6 +48,11 @@ def reform_data(src, data_name, data_option, Nb_camera, World_begin, Nb_world):
dst_bbox = f"{data_name}/Bbox_2d/{count}.json"
shutil.copy(src_bbox, dst_bbox)
+ files_3D_bbox = os.listdir(f"{src}/{i}/grabber_{j}/{data_option}/3d_detection/")
+ src_3D_bbox = f"{src}/{i}/grabber_{j}/{data_option}/3d_detection/{files_3D_bbox[0]}"
+ dst_3D_bbox = f"{data_name}/Bbox_3d/{count}.json"
+ shutil.copy(src_3D_bbox, dst_3D_bbox)
+
files_bbox_loose = os.listdir(f"{src}/{i}/grabber_{j}/{data_option}/2d_detection_loose/")
src_bbox_loose = f"{src}/{i}/grabber_{j}/{data_option}/2d_detection_loose/{files_bbox_loose[0]}"
dst_bbox_loose = f"{data_name}/Bbox_2d_loose/{count}.json"
diff --git a/test_resize.py b/test_resize.py
index 58177e3..c014c59 100644
--- a/test_resize.py
+++ b/test_resize.py
@@ -166,7 +166,6 @@ def generate_fps(data_name, camera, vis=False, resize=False):
# Read the point cloud
for obj in ["Banana"]:
- sfefcij
obj_id = 0
point_cloud = f'{data_name}/Models/{obj}/{obj.lower()}.ply'
pcd = o3d.io.read_point_cloud(point_cloud)
diff --git a/utils.py b/utils.py
index 96e49e3..2e09900 100644
--- a/utils.py
+++ b/utils.py
@@ -57,8 +57,11 @@ def compute_id_good_occ(data_name, count, catergories_instance_array_id_to_cat,
#print(cat)
catergories_occ_array[cat] = []
+ print(data2)
+
for i in data2:
- if i['occlusion_value'] > 0.5 :
+ if i['occlusion_value'] >= Occ_wanted :
+ print(i['id'])
catergories_occ_array[catergories_instance_array_id_to_cat[i['id']]].append(i['id'])
print(catergories_occ_array)
--
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