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Commit a57649e3 authored by Guillaume Duret's avatar Guillaume Duret
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more flexibility, change name and add without split

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with 42 additions and 35 deletions
main.py
+ 42
− 35
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......@@ -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)
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