add high quality

compute_features.py

@@ -18,6 +18,7 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
                                 [1.0000000, 0.0000000, 0.0000000]])
     
     list_count_categories = {}
+    
     for i in range(World_begin, World_begin + Nb_world): # worlds
         
         catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id, catergories_label_to_id = compute_categories_id(data_name, i)
@@ -86,9 +87,7 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
                             f.write(json.dumps(feeds, indent=4))    
 
                     if (Nb_instance == 1):
-
                         for k in range(len(data_3D_pose)):
-
                             if data_3D_pose[k]['id'] == catergories_occ_array[categories][0]:
                                 rpy = data_3D_pose[k]['pose']['rpy']
                                 rot = convert2(rpy)

main.py

@@ -50,7 +50,7 @@ if __name__ == '__main__':
     Nb_instance = 1
     occ_target = 0.5
     dataset_src = "/media/gduret/DATA/dataset/s2rg/Fruits_all_medium/data"
-    choice = "low" # depth of rgb resolution datas
+    choice = "high" # depth of rgb resolution datas
     data_options = {"high": "ground_truth_rgb",
                     "low": "ground_truth_depth"}
     dataset_type = data_options[choice]
@@ -64,17 +64,21 @@ if __name__ == '__main__':
         camera = np.matrix([[1386.4138492513919, 0.0, 960.5],
                             [0.0, 1386.4138492513919, 540.5],
                             [0.0, 0.0, 1.0]])
-    else:
+        # (640/1920 = 1 / 3), (480/1080 = 4 / 9)
+        trans = np.matrix([[1 / 3, 0.0, 0.0],
+                        [0.0, (4 / 9), 0.0],
+                        [0.0, 0.0, 1.0]])
+    elif choice == 'low':
         camera = np.matrix([[1086.5054444841007, 0.0, 640.5],
                             [0.0, 1086.5054444841007, 360.5],
                             [0.0, 0.0, 1.0]])
+        # 
+        trans = np.matrix([[0.5, 0.0, 0.0],
+                        [0.0, (2 / 3), 0.0],
+                        [0.0, 0.0, 1.0]])
 
     new_size = (640, 480)
 
-    trans = np.matrix([[0.5, 0.0, 0.0],
-                       [0.0, (2 / 3), 0.0],
-                       [0.0, 0.0, 1.0]])
-
     new_camera = trans @ camera
     np.savetxt(f'{dataset_name}/Generated/camera_{choice}.txt', camera)
 
@@ -107,5 +111,5 @@ if __name__ == '__main__':
         bbox = get_3D_bbox(ext)
         np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_bbox_3d.txt', bbox)  # save
 
-    process_compute(dataset_name, camera, new_camera, new_size, Nb_camera, args.World_begin, args.Nb_worlds, list_categories, occ_target, False)
+    process_compute(dataset_name, camera, new_camera, new_size, Nb_camera, args.World_begin, args.Nb_worlds, list_categories, occ_target, True)