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Commit 9fd608e8 authored by Guillaume Duret's avatar Guillaume Duret
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new set up rearangement

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compute_features.py
+ 30
− 15
View file @ 9fd608e8
...@@ -89,16 +89,16 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca ...@@ -89,16 +89,16 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca
meta['Nb_instance_category'] = 1 meta['Nb_instance_category'] = 1
if not os.path.isfile(f'{data_name}/Generated/Meta_Gen/{categories}/{categories}.json'): if not os.path.isfile(f'{data_name}/Generated/{categories}/Meta_Gen/{categories}.json'):
with open(f'{data_name}/Generated/Meta_Gen/{categories}/{categories}.json', mode='w') as f: with open(f'{data_name}/Generated/{categories}/Meta_Gen/{categories}.json', mode='w') as f:
feeds = {} feeds = {}
feeds[meta['id_generated']]=meta feeds[meta['id_generated']]=meta
f.write(json.dumps(feeds, indent=2)) f.write(json.dumps(feeds, indent=2))
else: else:
with open(f'{data_name}/Generated/Meta_Gen/{categories}/{categories}.json') as feedsjson: with open(f'{data_name}/Generated/{categories}/Meta_Gen/{categories}.json') as feedsjson:
feeds = json.load(feedsjson) feeds = json.load(feedsjson)
feeds[meta['id_generated']]=meta feeds[meta['id_generated']]=meta
with open(f'{data_name}/Generated/Meta_Gen/{categories}/{categories}.json', mode='w') as f: with open(f'{data_name}/Generated/{categories}/Meta_Gen/{categories}.json', mode='w') as f:
f.write(json.dumps(feeds, indent=4)) f.write(json.dumps(feeds, indent=4))
# with open(f'{data_name}/Generated/Meta_Gen/{categories}/{categories}.json', "a") as meta_file: # with open(f'{data_name}/Generated/Meta_Gen/{categories}/{categories}.json', "a") as meta_file:
...@@ -116,13 +116,13 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca ...@@ -116,13 +116,13 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca
T_exp = transformation @ xyz T_exp = transformation @ xyz
T_exp = np.array(T_exp) T_exp = np.array(T_exp)
num_arr = np.c_[R_exp, T_exp[0]] num_arr = np.c_[R_exp, T_exp[0]]
np.save(f'{data_name}/Generated/Pose_transformed/{categories}/{p}.npy', num_arr) # save np.save(f'{data_name}/Generated/{categories}/Pose_transformed/{p}.npy', num_arr) # save
else: else:
continue continue
if data_Bbox_2d[k]['id'] == catergories_occ_array[categories][0]: if data_Bbox_2d[k]['id'] == catergories_occ_array[categories][0]:
bbox = bbox_2d(data_Bbox_2d[k]) bbox = bbox_2d(data_Bbox_2d[k])
np.savetxt(f'{data_name}/Generated/Bbox/{categories}/{p}.txt', np.array(bbox).reshape((1, 4))) # save np.savetxt(f'{data_name}/Generated/{categories}/Bbox/{p}.txt', np.array(bbox).reshape((1, 4))) # save
else: else:
continue continue
...@@ -130,13 +130,14 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca ...@@ -130,13 +130,14 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca
img = cv2.imread(f"{data_name}/Instance_Segmentation/{p}.png", cv2.IMREAD_UNCHANGED) # plt.imread(path) img = cv2.imread(f"{data_name}/Instance_Segmentation/{p}.png", cv2.IMREAD_UNCHANGED) # plt.imread(path)
instance_img = instance(img, id) instance_img = instance(img, id)
cv2.imwrite(f"{data_name}/Generated/Instance_Mask/{categories}/{p}.png", 255*instance_img) cv2.imwrite(f"{data_name}/Generated/{categories}/Instance_Mask/{p}.png", 255*instance_img)
img = image.imread(f"{data_name}/RGB/{p}.png") img = cv2.imread(f"{data_name}/RGB/{p}.png")
cv2.imwrite(f"{data_name}/Generated/{categories}/RGB_Gen/{p}.png", img)
np.set_printoptions(precision=15) np.set_printoptions(precision=15)
pose = np.load(f'{data_name}/Generated/Pose_transformed/{categories}/{p}.npy') pose = np.load(f'{data_name}/Generated/{categories}/Pose_transformed/{p}.npy')
#print(pose) #print(pose)
R_exp = pose[0:3, 0:3] R_exp = pose[0:3, 0:3]
tVec = pose[0:3, 3] tVec = pose[0:3, 3]
...@@ -147,18 +148,32 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca ...@@ -147,18 +148,32 @@ def process_compute(data_name, camera, Nb_camera, World_begin, Nb_world, list_ca
# [0.0, 0.0, 1.0]]) # [0.0, 0.0, 1.0]])
fps_points = np.loadtxt(f'{data_name}/Generated/FPS/{categories}_fps_3d.txt') fps_points = np.loadtxt(f'{data_name}/Generated/{categories}/{categories}_fps_3d.txt')
# process(pcd_bbox, pcd, R_exp, tVec, camera, img) # process(pcd_bbox, pcd, R_exp, tVec, camera, img)
center = fps_points.mean(0)
fps_points = np.append(fps_points, [center], axis=0)
points = process2(fps_points, R_exp, tVec, camera, img, vis) points = process2(fps_points, R_exp, tVec, camera, img, vis)
out = np.zeros((1, 401)) #out = np.zeros((1, ))
out = [int(catergories_occ_array[categories][0])]# [catergories_occ_array[categories][0]] #obj_id #len have to be 1 !!
print(out)
out[0] = catergories_occ_array[categories] #obj_id #len have to be 1 !!
ind = 1 ind = 1
for point in points: for point in points:
out[0][ind] = point[0][0] / img.shape[1] #out[0][ind] = point[0][0] / img.shape[1]
out[0][ind + 1] = point[0][1] / img.shape[0] #[0][ind + 1] = point[0][1] / img.shape[0]
x = point[0][0] / img.shape[1]
y = point[0][1] / img.shape[0]
out.append(x)
out.append(y)
ind += 2 ind += 2
np.savetxt(f'{data_name}/Generated/FPS/{categories}/{p}.txt', out) print("points" , points)
print("out" , out)
print("np.array(out).reshape(1, len(out))", np.array(out).reshape(1, len(out)))
np.savetxt(f'{data_name}/Generated/{categories}/FPS/{p}.txt', np.array(out).reshape(1, len(out)))
#print("stop") #print("stop")
with open(f'{data_name}/Generated/Count_{p}.json', mode='w') as f: with open(f'{data_name}/Generated/Count_{p}.json', mode='w') as f:
......
main.py
+ 6
− 6
View file @ 9fd608e8
...@@ -25,9 +25,9 @@ def generate_folders(name, list_categories): ...@@ -25,9 +25,9 @@ def generate_folders(name, list_categories):
os.mkdir(f"{name}/{f}") os.mkdir(f"{name}/{f}")
else: else:
for cat in list_categories: for cat in list_categories:
is_exist2 = os.path.exists(f"{name}/Generated/{f}/{cat}") is_exist2 = os.path.exists(f"{name}/Generated/{cat}/{f}")
if not is_exist2: if not is_exist2:
os.makedirs(f"{name}/Generated/{f}/{cat}") os.makedirs(f"{name}/Generated/{cat}/{f}")
if __name__ == '__main__': if __name__ == '__main__':
...@@ -60,18 +60,18 @@ if __name__ == '__main__': ...@@ -60,18 +60,18 @@ if __name__ == '__main__':
generate_folders(dataset_name, list_categories) generate_folders(dataset_name, list_categories)
for cat in list_categories: for cat in list_categories:
src_bbox = f"Models/{cat}/{cat.lower()}.ply" src_bbox = f"Models/{cat}/{cat.lower()}.ply"
dst_bbox = f"{dataset_name}/Generated/Models/{cat}/{cat.lower()}.ply" dst_bbox = f"{dataset_name}/Generated/{cat}/{cat.lower()}.ply"
shutil.copy(src_bbox, dst_bbox) shutil.copy(src_bbox, dst_bbox)
for categories in list_categories: for categories in list_categories:
point_cloud = f'{dataset_name}/Generated/Models/{categories}/{categories.lower()}.ply' point_cloud = f'{dataset_name}/Generated/{categories}/{categories.lower()}.ply'
pcd = o3d.io.read_point_cloud(point_cloud) pcd = o3d.io.read_point_cloud(point_cloud)
#print("pcd", pcd) #print("pcd", pcd)
fps_points = apply_fps(pcd, 200) fps_points = apply_fps(pcd, 8)
#print(fps_points) #print(fps_points)
np.savetxt(f'{dataset_name}/Generated/FPS/{categories}_fps_3d.txt', fps_points) np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_fps_3d.txt', fps_points)
if choice == 'high': if choice == 'high':
......
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