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Guillaume Duret
FruitBin
Commits
ddfede08
Commit
ddfede08
authored
2 years ago
by
Guillaume Duret
Browse files
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improve meta, fix statictics and add filtered stat
parent
0f25276a
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Changes
1
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1 changed file
compute_features.py
+96
-57
96 additions, 57 deletions
compute_features.py
with
96 additions
and
57 deletions
compute_features.py
+
96
−
57
View file @
ddfede08
...
...
@@ -12,24 +12,31 @@ from fps_alg import process2
import
os
from
PIL
import
Image
def
process_compute
(
data_
name
,
camera
,
camera_resized
,
new_size
,
Nb_camera
,
World_begin
,
Nb_world
,
list_categories
,
occ_target
,
vis
):
def
process_compute
(
data_
path
,
full_path
,
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
],
[
0.0000000
,
0.0000000
,
-
1.0000000
],
[
1.0000000
,
0.0000000
,
0.0000000
]])
scenarios
=
[
"
Worlds
"
,
"
Cameras
"
,
"
Mix_all
"
]
scenarios
=
[
"
Worlds
"
,
"
Cameras
"
,
"
Mix_all
"
,
"
all
"
]
#scenarios = ["all"]
destination_folders_list
=
{}
for
scenario_loop
in
scenarios
:
destination_folders_list
[
scenario_loop
]
=
[
f
"
Generated_
{
scenario_loop
}
_Testing
"
,
f
"
Generated_
{
scenario_loop
}
_Evaluating
"
,
f
"
Generated_
{
scenario_loop
}
_Training
"
,
f
"
Generated_
{
scenario_loop
}
_dont_save
"
]
#destination_folders_list[scenario_loop] = [f"Generated_{scenario_loop}" ]
list_count_categories
=
{}
list_count_categories_filtered
=
{}
for
scenario_loop
in
scenarios
:
list_count_categories
[
scenario_loop
]
=
{}
for
destination_folder_loop
in
destination_folders_list
[
scenario_loop
]
:
# [f"Generated_{scenario}_Testing", f"Generated_{scenario}_Evaluating", f"Generated_{scenario}_Training"] :
list_count_categories_filtered
[
scenario_loop
]
=
{}
for
destination_folder_loop
in
destination_folders_list
[
scenario_loop
]
:
list_count_categories
[
scenario_loop
][
destination_folder_loop
]
=
{}
list_count_categories_filtered
[
scenario_loop
][
destination_folder_loop
]
=
{}
destination_folders
=
{}
destination_folders
[
"
all
"
]
=
f
"
Generated_all
"
for
i
in
range
(
World_begin
,
World_begin
+
Nb_world
):
# worlds
...
...
@@ -40,7 +47,7 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
else
:
destination_folders
[
"
Worlds
"
]
=
f
"
Generated_Worlds_Training
"
categories_instance_array_id_to_cat
,
categories_instance_array_cat_to_id
,
categories_label_to_id
=
compute_categories_id
(
data_
name
,
i
)
categories_instance_array_id_to_cat
,
categories_instance_array_cat_to_id
,
categories_label_to_id
=
compute_categories_id
(
data_
path
,
i
)
for
j
in
range
(
1
,
Nb_camera
+
1
):
# cameras
p
=
((
i
-
1
)
*
Nb_camera
)
+
j
...
...
@@ -61,17 +68,17 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
else
:
destination_folders
[
"
Mix_all
"
]
=
f
"
Generated_Mix_all_dont_save
"
categories_
occ
_array
,
categories_array
=
compute_id_good_occ
(
data_
name
,
p
,
categories_instance_array_id_to_cat
,
categories_instance_array_cat_to_id
,
occ_target
)
categories_
array_filtered
,
categories_array_filtered_occ
,
categories
_array
_all
,
categories_array
_all_occ
=
compute_id_good_occ
(
data_
path
,
p
,
categories_instance_array_id_to_cat
,
categories_instance_array_cat_to_id
,
occ_target
)
### 3D Poses ###
with
open
(
f
'
{
data_
name
}
/Pose/
{
p
}
.json
'
,
'
r
'
)
as
f
:
with
open
(
f
'
{
data_
path
}
/Pose/
{
p
}
.json
'
,
'
r
'
)
as
f
:
data_3D_pose
=
json
.
load
(
f
)
### 2D BBox ###
with
open
(
f
"
{
data_
name
}
/Bbox_2d/
{
p
}
.json
"
,
'
r
'
)
as
f
:
with
open
(
f
"
{
data_
path
}
/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
:
with
open
(
f
"
{
data_
path
}
/Bbox_3d/
{
p
}
.json
"
,
'
r
'
)
as
f
:
data_Bbox_3d
=
json
.
load
(
f
)
if
len
(
data_Bbox_2d
)
!=
len
(
data_3D_pose
)
:
...
...
@@ -79,15 +86,21 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
for
scenario_loop
in
scenarios
:
for
destination_folder_loop
in
destination_folders_list
[
scenario_loop
]
:
if
os
.
path
.
isfile
(
f
'
{
data_name
}
/
{
destination_folder_loop
}
/Count_
{
p
-
1
}
.json
'
):
with
open
(
f
'
{
data_name
}
/
{
destination_folder_loop
}
/Count_
{
p
-
1
}
.json
'
)
as
f
:
if
os
.
path
.
isfile
(
f
'
{
full_path
}
/
{
destination_folder_loop
}
/Count_
{
p
-
1
}
.json
'
):
with
open
(
f
'
{
full_path
}
/
{
destination_folder_loop
}
/Count_
{
p
-
1
}
.json
'
)
as
f
:
list_count_categories
[
scenario_loop
][
destination_folder_loop
]
=
json
.
load
(
f
)
for
scenario_loop
in
scenarios
:
for
destination_folder_loop
in
destination_folders_list
[
scenario_loop
]
:
if
os
.
path
.
isfile
(
f
'
{
full_path
}
/
{
destination_folder_loop
}
/Count_filtered_
{
p
-
1
}
.json
'
):
with
open
(
f
'
{
full_path
}
/
{
destination_folder_loop
}
/Count_filtered_
{
p
-
1
}
.json
'
)
as
f
:
list_count_categories_filtered
[
scenario_loop
][
destination_folder_loop
]
=
json
.
load
(
f
)
#res_all = []
for
categories
in
list_categories
:
if
categories
in
categories_
occ_
array
.
keys
():
Nb_instance
=
len
(
categories_array
[
categories
])
Nb_instance_occ
=
len
(
categories_
occ_
array
[
categories
])
if
categories
in
categories_array
_filtered
.
keys
():
Nb_instance
_all
=
len
(
categories_array
_all
[
categories
])
Nb_instance_occ
=
len
(
categories_array
_filtered
[
categories
])
for
scenario_loop
in
scenarios
:
...
...
@@ -97,37 +110,63 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]]
=
{}
if
not
categories
in
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]].
keys
():
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
]
=
{}
if
f
"
{
Nb_instance
}
_instances
"
in
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
].
keys
()
:
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance
}
_instances
"
]
+=
1
if
f
"
{
Nb_instance
_all
}
_instances
"
in
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
].
keys
()
:
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance
_all
}
_instances
"
]
+=
1
else
:
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance
}
_instances
"
]
=
1
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance_all
}
_instances
"
]
=
1
if
(
Nb_instance_occ
==
1
and
Nb_instance_all
==
1
):
if
"
1_instances_filtered
"
in
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
].
keys
()
:
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
"
1_instances_filtered
"
]
+=
1
else
:
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
"
1_instances_filtered
"
]
=
1
if
not
destination_folders
[
scenario_loop
]
in
list_count_categories_filtered
[
scenario_loop
].
keys
():
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]]
=
{}
if
not
categories
in
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]].
keys
():
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
]
=
{}
if
f
"
{
Nb_instance_occ
}
_instances
"
in
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
].
keys
()
:
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance_occ
}
_instances
"
]
+=
1
else
:
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance_occ
}
_instances
"
]
=
1
if
(
Nb_instance_occ
==
1
and
Nb_instance_all
==
1
):
if
"
1_instances_filtered
"
in
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
].
keys
()
:
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
"
1_instances_filtered
"
]
+=
1
else
:
list_count_categories_filtered
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
"
1_instances_filtered
"
]
=
1
meta
[
'
id_generated
'
]
=
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance
}
_instances
"
]
meta
[
'
id_original
'
]
=
p
meta
[
'
id_category
'
]
=
categories_label_to_id
[
categories
]
meta
[
'
id_instance
'
]
=
categories_occ_array
[
categories
]
meta
[
'
id_dataset
'
]
=
1
meta
[
'
id_original
'
]
=
p
meta
[
'
world
'
]
=
i
meta
[
'
camera
'
]
=
f
"
grabber_
{
j
}
"
meta
[
'
occlusion
'
]
=
occ_target
meta
[
'
Nb_instance_category
'
]
=
Nb_instance
if
not
os
.
path
.
isfile
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
):
with
open
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
meta
[
'
camera
'
]
=
j
meta
[
'
id_category
'
]
=
categories_label_to_id
[
categories
]
meta
[
'
id_generated
'
]
=
list_count_categories
[
scenario_loop
][
destination_folders
[
scenario_loop
]][
categories
][
f
"
{
Nb_instance_all
}
_instances
"
]
meta
[
'
Nb_instance
'
]
=
Nb_instance_all
meta
[
'
all_id_instance
'
]
=
categories_array_all
[
categories
]
meta
[
'
all_id_instance_occlusion
'
]
=
categories_array_all_occ
[
categories
]
meta
[
'
target_occlusion
'
]
=
occ_target
meta
[
'
Nb_instance_filtered
'
]
=
Nb_instance_occ
meta
[
'
id_instance_good
'
]
=
categories_array_filtered
[
categories
]
meta
[
'
id_instance_good_occlusion
'
]
=
categories_array_filtered_occ
[
categories
]
if
not
os
.
path
.
isfile
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
):
with
open
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
feeds
=
{}
feeds
[
meta
[
'
id_generated
'
]]
=
meta
f
.
write
(
json
.
dumps
(
feeds
,
indent
=
2
))
else
:
with
open
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
)
as
feedsjson
:
with
open
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
)
as
feedsjson
:
feeds
=
json
.
load
(
feedsjson
)
feeds
[
meta
[
'
id_generated
'
]]
=
meta
with
open
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
with
open
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Meta_Gen/
{
categories
}
_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
f
.
write
(
json
.
dumps
(
feeds
,
indent
=
4
))
if
(
Nb_instance_occ
==
1
and
Nb_instance
==
0
):
# condition of only one instance of occ >= 0.5 and no other < 0.05
if
(
Nb_instance_occ
==
1
and
Nb_instance
_all
==
1
):
# condition of only one instance of occ >= 0.5 and no other < 0.05
for
k
in
range
(
len
(
data_3D_pose
)):
if
data_3D_pose
[
k
][
'
id
'
]
==
categories_
occ_
array
[
categories
][
0
]:
if
data_3D_pose
[
k
][
'
id
'
]
==
categories_array
_filtered
[
categories
][
0
]:
rpy
=
data_3D_pose
[
k
][
'
pose
'
][
'
rpy
'
]
rot
=
convert2
(
rpy
)
R_exp
=
transformation
@
rot
...
...
@@ -139,25 +178,25 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
num_arr
=
np
.
c_
[
R_exp
,
T_exp
[
0
]]
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
np
.
save
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Pose_transformed/
{
p
}
.npy
'
,
num_arr
)
# save
np
.
save
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Pose_transformed/
{
p
}
.npy
'
,
num_arr
)
# save
if
data_Bbox_2d
[
k
][
'
id
'
]
==
categories_
occ_
array
[
categories
][
0
]:
if
data_Bbox_2d
[
k
][
'
id
'
]
==
categories_array
_filtered
[
categories
][
0
]:
bbox
=
bbox_2d
(
data_Bbox_2d
[
k
])
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
np
.
savetxt
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Bbox/
{
p
}
.txt
'
,
np
.
array
(
bbox
).
reshape
((
1
,
4
)))
# save
np
.
savetxt
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Bbox/
{
p
}
.txt
'
,
np
.
array
(
bbox
).
reshape
((
1
,
4
)))
# save
if
data_Bbox_3d
[
k
][
'
id
'
]
==
categories_
occ_
array
[
categories
][
0
]:
if
data_Bbox_3d
[
k
][
'
id
'
]
==
categories_array
_filtered
[
categories
][
0
]:
bbox3d_size
=
data_Bbox_3d
[
k
][
'
bbox
'
][
'
size
'
]
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
np
.
savetxt
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Bbox_3d_Gen/
{
p
}
.txt
'
,
bbox3d_size
)
# save
np
.
savetxt
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Bbox_3d_Gen/
{
p
}
.txt
'
,
bbox3d_size
)
# save
id
=
categories_
occ_
array
[
categories
][
0
]
img
=
cv2
.
imread
(
f
"
{
data_
name
}
/Instance_Segmentation/
{
p
}
.png
"
,
cv2
.
IMREAD_UNCHANGED
)
# plt.imread(path)
id
=
categories_array
_filtered
[
categories
][
0
]
img
=
cv2
.
imread
(
f
"
{
data_
path
}
/Instance_Segmentation/
{
p
}
.png
"
,
cv2
.
IMREAD_UNCHANGED
)
# plt.imread(path)
depth
=
Image
.
open
(
f
"
{
data_
name
}
/Depth/
{
p
}
.tiff
"
)
print
(
f
"
{
data_
name
}
/Depth/
{
p
}
.tiff
"
)
depth
=
Image
.
open
(
f
"
{
data_
path
}
/Depth/
{
p
}
.tiff
"
)
print
(
f
"
{
data_
path
}
/Depth/
{
p
}
.tiff
"
)
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
depth_array
=
np
.
asarray
(
depth
.
getdata
()).
reshape
(
depth
.
size
[
1
],
depth
.
size
[
0
])
...
...
@@ -167,19 +206,19 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
resized
=
Image
.
fromarray
(
depth3
)
depth_high
=
Image
.
fromarray
(
depth_array
)
#img2 = np.asarray(res.getdata()).reshape(res.size[1], res.size[0])
print
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Depth_resized/
{
p
}
.png
"
)
print
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Depth_resized/
{
p
}
.png
"
)
#depth_high.save(f"{data_name}/{destination_folders[scenario_loop]}/{categories}/Depth_Gen/{p}.png")
resized
.
save
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Depth_resized/
{
p
}
.png
"
)
resized
.
save
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Depth_resized/
{
p
}
.png
"
)
instance_img
=
instance
(
img
,
id
)
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
cv2
.
imwrite
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Instance_Mask/
{
p
}
.png
"
,
255
*
instance_img
)
cv2
.
imwrite
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Instance_Mask/
{
p
}
.png
"
,
255
*
instance_img
)
id_obj
=
0.0
res
=
[
id_obj
]
image
=
cv2
.
imread
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Instance_Mask/
{
p
}
.png
"
,
0
)
image
=
cv2
.
imread
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Instance_Mask/
{
p
}
.png
"
,
0
)
image
=
image
/
255.0
contours
,
_
=
cv2
.
findContours
(
image
.
astype
(
np
.
uint8
),
cv2
.
RETR_TREE
,
cv2
.
CHAIN_APPROX_NONE
)
if
len
(
contours
)
>
1
:
...
...
@@ -192,7 +231,7 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
#id_obj += 1.0
#res_all.append(res)
a_file
=
open
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Labels/
{
p
}
.txt
"
,
"
w
"
)
a_file
=
open
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Labels/
{
p
}
.txt
"
,
"
w
"
)
#for row in res_all:
np
.
savetxt
(
a_file
,
np
.
array
(
res
).
reshape
(
1
,
len
(
res
)))
...
...
@@ -201,29 +240,29 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
instance_img_resized
=
cv2
.
resize
(
instance_img
,
new_size
)
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
cv2
.
imwrite
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Instance_Mask_resized/
{
p
}
.png
"
,
255
*
instance_img_resized
)
img
=
cv2
.
imread
(
f
"
{
data_
name
}
/RGB/
{
p
}
.png
"
)
cv2
.
imwrite
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Instance_Mask_resized/
{
p
}
.png
"
,
255
*
instance_img_resized
)
img
=
cv2
.
imread
(
f
"
{
data_
path
}
/RGB/
{
p
}
.png
"
)
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
cv2
.
imwrite
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/RGB_Gen/
{
p
}
.png
"
,
img
)
cv2
.
imwrite
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/RGB_Gen/
{
p
}
.png
"
,
img
)
img_resized
=
cv2
.
resize
(
img
,
new_size
)
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
cv2
.
imwrite
(
f
"
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/RGB_resized/
{
p
}
.png
"
,
img_resized
)
cv2
.
imwrite
(
f
"
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/RGB_resized/
{
p
}
.png
"
,
img_resized
)
np
.
set_printoptions
(
precision
=
15
)
#for scenario_loop in scenarios:
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
pose
=
np
.
load
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Pose_transformed/
{
p
}
.npy
'
)
pose
=
np
.
load
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/Pose_transformed/
{
p
}
.npy
'
)
R_exp
=
pose
[
0
:
3
,
0
:
3
]
tVec
=
pose
[
0
:
3
,
3
]
fps_points
=
np
.
loadtxt
(
f
'
{
data_name
}
/Generated/
{
categories
}
/
{
categories
}
_fps_3d.txt
'
)
fps_points
=
np
.
loadtxt
(
f
'
{
full_path
}
/Generated/
{
categories
}
/
{
categories
}
_fps_3d.txt
'
)
center
=
fps_points
.
mean
(
0
)
fps_points
=
np
.
append
(
fps_points
,
[
center
],
axis
=
0
)
points
=
process2
(
fps_points
,
R_exp
,
tVec
,
camera
,
img
,
vis
)
out
=
[
int
(
categories_
occ_
array
[
categories
][
0
])]
#len have to be 1
!!
out
=
[
int
(
categories_array
_filtered
[
categories
][
0
])]
#len have to be 1
ind
=
1
for
point
in
points
:
x
=
point
[
0
][
0
]
/
img
.
shape
[
1
]
...
...
@@ -234,10 +273,10 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
np
.
savetxt
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/FPS/
{
p
}
.txt
'
,
np
.
array
(
out
).
reshape
(
1
,
len
(
out
)))
np
.
savetxt
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/FPS/
{
p
}
.txt
'
,
np
.
array
(
out
).
reshape
(
1
,
len
(
out
)))
points_resized
=
process2
(
fps_points
,
R_exp
,
tVec
,
camera_resized
,
img_resized
,
vis
)
out_resized
=
[
int
(
categories_
occ_
array
[
categories
][
0
])]
#len have to be 1 !
out_resized
=
[
int
(
categories_array
_filtered
[
categories
][
0
])]
#len have to be 1 !
ind_resized
=
1
for
point_resized
in
points_resized
:
x_resized
=
point_resized
[
0
][
0
]
/
img_resized
.
shape
[
1
]
...
...
@@ -247,15 +286,15 @@ def process_compute(data_name, camera, camera_resized, new_size, Nb_camera, Worl
ind_resized
+=
2
for
scenario_loop
in
scenarios
:
if
not
destination_folders
[
scenario_loop
]
==
"
dont_save
"
:
np
.
savetxt
(
f
'
{
data_name
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/FPS_resized/
{
p
}
.txt
'
,
np
.
array
(
out_resized
).
reshape
(
1
,
len
(
out_resized
)))
np
.
savetxt
(
f
'
{
full_path
}
/
{
destination_folders
[
scenario_loop
]
}
/
{
categories
}
/FPS_resized/
{
p
}
.txt
'
,
np
.
array
(
out_resized
).
reshape
(
1
,
len
(
out_resized
)))
for
scenario_loop
in
scenarios
:
for
destination_folder_loop
in
destination_folders_list
[
scenario_loop
]
:
# [f"Generated_{scenario}_Testing", f"Generated_{scenario}_Evaluating", f"Generated_{scenario}_Training"] :
with
open
(
f
'
{
data_name
}
/
{
destination_folder_loop
}
/Count_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
with
open
(
f
'
{
full_path
}
/
{
destination_folder_loop
}
/Count_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
f
.
write
(
json
.
dumps
(
list_count_categories
[
scenario_loop
][
destination_folder_loop
],
indent
=
4
))
with
open
(
f
'
{
data_name
}
/Count_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
with
open
(
f
'
{
full_path
}
/Count_
{
p
}
.json
'
,
mode
=
'
w
'
)
as
f
:
f
.
write
(
json
.
dumps
(
list_count_categories
,
indent
=
4
))
print
(
list_count_categories
)
print
(
f
'
{
data_name
}
/
{
destination_folder_loop
}
/Count_
{
p
}
.json
'
)
print
(
f
'
{
full_path
}
/
{
destination_folder_loop
}
/Count_
{
p
}
.json
'
)
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