diff --git a/main.py b/main.py
index 03a0b98e1b5ce080d59d97545c5d625def77c25c..f85ff2bbe5ac9d8e2844c1b31baa8b3490ba1bf3 100644
--- a/main.py
+++ b/main.py
@@ -9,37 +9,42 @@ from scipy.spatial import distance
import argparse
-def generate_folders(name, list_categories, scenario):
- is_exist = os.path.exists(name)
+def generate_folders( dataset_path, name, list_categories, scenario):
+ full_name = dataset_path + name
+ is_exist = os.path.exists(full_name)
if not is_exist:
- os.mkdir(name)
- folders = ["RGB", "RGB_Gen", "RGB_resized", "Meta_Gen", "Depth", "Depth_Gen", "Depth_resized", "Mask", "Meta", "Pose", "Bbox_2d", "Bbox_2d_loose", "Bbox_3d", "Bbox_3d_Gen", "Instance_Segmentation", "Semantic_Segmentation", "Instance_Mask", "Labels", "Instance_Mask_resized", "Occlusion", "Models", "Pose_transformed", "Bbox", "FPS", "FPS_resized"]
+ os.mkdir(full_name)
+ folders = ["RGB", "RGB_Gen", "RGB_resized", "Meta_Gen", "Depth", "Depth_Gen", "Depth_resized", "Meta", "Pose", "Bbox_2d", "Bbox_2d_loose", "Bbox_3d", "Bbox_3d_Gen", "Instance_Segmentation", "Semantic_Segmentation", "Instance_Mask", "Labels", "Instance_Mask_resized", "Occlusion", "Models", "Pose_transformed", "Bbox", "FPS", "FPS_resized"]
for f in folders:
- is_exist = os.path.exists(f"{name}/{f}")
+ is_exist = os.path.exists(f"{dataset_path}/{f}")
if not is_exist:
- if f not in ["RGB_Gen", "RGB_resized", "Depth", "Depth_Gen", "Depth_resized", "Instance_Mask", "Labels", "Instance_Mask_resized", "Meta_Gen", "Models", "Pose_transformed", "Bbox", "Bbox_3d_Gen", "FPS" , "FPS_resized"]:
- os.mkdir(f"{name}/{f}") # general data not dependent of category
+ if f not in ["RGB_Gen", "RGB_resized", "Depth_Gen", "Depth_resized", "Instance_Mask", "Labels", "Instance_Mask_resized", "Meta_Gen", "Models", "Pose_transformed", "Bbox", "Bbox_3d_Gen", "FPS" , "FPS_resized"]:
+ os.mkdir(f"{dataset_path}/{f}") # general data not dependent of category
else:
for cat in list_categories:
- is_exist2 = os.path.exists(f"{name}/Generated/{cat}")
+ is_exist2 = os.path.exists(f"{full_name}/Generated/{cat}")
if not is_exist2:
- os.makedirs(f"{name}/Generated/{cat}")
- is_exist2 = os.path.exists(f"{name}/Generated/{cat}/Pose_transformed")
+ os.makedirs(f"{full_name}/Generated/{cat}")
+ is_exist2 = os.path.exists(f"{full_name}/Generated/{cat}/Pose_transformed")
if not is_exist2:
- os.makedirs(f"{name}/Generated/{cat}/Pose_transformed")
- for scenario in ["Worlds", "Cameras", "Mix_all"] :
- is_exist2 = os.path.exists(f"{name}/Generated_{scenario}_Training/{cat}/{f}")
+ os.makedirs(f"{full_name}/Generated/{cat}/Pose_transformed")
+ for scenario in ["Worlds", "Cameras", "Mix_all", "all"] :
+ #for scenario in ["all"] :
+ is_exist2 = os.path.exists(f"{full_name}/Generated_{scenario}_Training/{cat}/{f}")
if not is_exist2:
- os.makedirs(f"{name}/Generated_{scenario}_Training/{cat}/{f}")
- is_exist2 = os.path.exists(f"{name}/Generated_{scenario}_Evaluating/{cat}/{f}")
+ os.makedirs(f"{full_name}/Generated_{scenario}_Training/{cat}/{f}")
+ is_exist2 = os.path.exists(f"{full_name}/Generated_{scenario}_Evaluating/{cat}/{f}")
if not is_exist2:
- os.makedirs(f"{name}/Generated_{scenario}_Evaluating/{cat}/{f}")
- is_exist2 = os.path.exists(f"{name}/Generated_{scenario}_Testing/{cat}/{f}")
+ os.makedirs(f"{full_name}/Generated_{scenario}_Evaluating/{cat}/{f}")
+ is_exist2 = os.path.exists(f"{full_name}/Generated_{scenario}_Testing/{cat}/{f}")
if not is_exist2:
- os.makedirs(f"{name}/Generated_{scenario}_Testing/{cat}/{f}")
- is_exist2 = os.path.exists(f"{name}/Generated_{scenario}_dont_save/{cat}/{f}")
+ os.makedirs(f"{full_name}/Generated_{scenario}_Testing/{cat}/{f}")
+ is_exist2 = os.path.exists(f"{full_name}/Generated_{scenario}_dont_save/{cat}/{f}")
if not is_exist2:
- os.makedirs(f"{name}/Generated_{scenario}_dont_save/{cat}/{f}")
+ os.makedirs(f"{full_name}/Generated_{scenario}_dont_save/{cat}/{f}")
+ is_exist2 = os.path.exists(f"{full_name}/Generated_{scenario}/{cat}/{f}")
+ if not is_exist2:
+ os.makedirs(f"{full_name}/Generated_{scenario}/{cat}/{f}")
@@ -60,11 +65,12 @@ if __name__ == '__main__':
# Add an argument
parser.add_argument('--Nb_worlds', type=int, required=True)
parser.add_argument('--World_begin', type=int, required=True)
- parser.add_argument('--dataset_id', type=str, required=True)
+ parser.add_argument('--dataset_id', type=str, default='', required=True)
+ parser.add_argument('--occlusion_target', type=float, default='', required=True)
#parser.add_argument('--rearrange', dest='rearrange', default=False, action='store_true')
#parser.add_argument('--compute', dest='compute', default=False, action='store_true')
- parser.add_argument('--rearrange', type=str, required=True)
- parser.add_argument('--compute', type=str, required=True)
+ parser.add_argument('--rearrange', type=str, default='no', required=True)
+ parser.add_argument('--compute', type=str, default='no', required=True)
# Parse the argument
args = parser.parse_args()
@@ -73,23 +79,24 @@ if __name__ == '__main__':
### parameters ###
Categories = [] # to read
Nb_instance = 1
- occ_target = 0.5
+ occ_target = args.occlusion_target
- dataset_src = f"/gpfsscratch/rech/uli/ubn15wo/data{args.dataset_id}"
- #dataset_src = "/media/mahmoud/E/Fruits_easy/data"
- #dataset_src = "/media/gduret/DATA/dataset/s2rg/Fruits_all_medium/data"
+ #dataset_src = f"/gpfsscratch/rech/uli/ubn15wo/data{args.dataset_id}"
+ dataset_src = "/media/gduret/DATA/dataset/s2rg/Fruits_all_medium/data"
choice = "low" # depth of rgb resolution datas
data_options = {"high": "ground_truth_rgb",
"low": "ground_truth_depth"}
dataset_type = data_options[choice]
- dataset_name = f"/gpfsscratch/rech/uli/ubn15wo/GUIMOD_New_{choice}_{args.dataset_id}"
+ #dataset_name = f"/gpfsscratch/rech/uli/ubn15wo/GUIMOD_New_{choice}_{args.dataset_id}"
+ dataset_path = "/home/gduret/Documents/Datasets/"
+ dataset_name = f"FruitsBin_{choice}_{Nb_instance}_{occ_target}"
#dataset_name = f"/gpfsscratch/rech/uli/ubn15wo/dataset_new{args.dataset_id}/s2rg/Fruits_all_medium/GUIMOD_{choice}"
- list_categories = ["banana1", "kiwi1", "pear2", "apricot", "orange2", "peach1", "lemon2", "apple2" ]
+ list_categories = ["banana1", "kiwi1", "pear2", "apricot", "orange2", "peach1", "lemon2", "apple2"]
Nb_camera = 15
#Nb_world = 10000
- generate_folders(dataset_name, list_categories, scenario)
+ generate_folders(dataset_path , dataset_name, list_categories, scenario)
if choice == 'high':
camera = np.matrix([[1386.4138492513919, 0.0, 960.5],
@@ -117,7 +124,7 @@ if __name__ == '__main__':
print("compute", args.compute)
if args.rearrange == 'yes':
- reform_data(dataset_src, dataset_name, dataset_type, Nb_camera, args.World_begin, args.Nb_worlds)
+ reform_data(dataset_src, dataset_path, dataset_type, Nb_camera, args.World_begin, args.Nb_worlds)
objs = {"banana1": [ 0.02949700132012367249, 0.1511049866676330566, 0.06059300713241100311 ],
"kiwi1": [ 0.04908600077033042908, 0.07206099480390548706, 0.04909799993038177490 ],
@@ -136,17 +143,17 @@ if __name__ == '__main__':
fps_points = apply_fps(pcd, 8)
- np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_fps_3d.txt', fps_points)
+ np.savetxt(f'{dataset_path}/{dataset_name}/Generated/{categories}/{categories}_fps_3d.txt', fps_points)
point_cloud_in_numpy = np.asarray(pcd.points)
dim = calc_pts_diameter2(point_cloud_in_numpy) * 100
- np.savetxt(f'{dataset_name}/Generated/{categories}/{categories}_diameter.txt', np.array([dim]))
+ np.savetxt(f'{dataset_path}/{dataset_name}/Generated/{categories}/{categories}_diameter.txt', np.array([dim]))
size_bb = objs[categories]
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
+ np.savetxt(f'{dataset_path}/{dataset_name}/Generated/{categories}/{categories}_bbox_3d.txt', bbox) # save
if args.compute == 'yes' :
- 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_path, dataset_path+'/'+dataset_name, camera, new_camera, new_size, Nb_camera, args.World_begin, args.Nb_worlds, list_categories, occ_target, False)