diff --git a/main_rearrange.py b/main_rearrange.py new file mode 100644 index 0000000000000000000000000000000000000000..65a10dfa10f52e5101a426eca001aeea07311039 --- /dev/null +++ b/main_rearrange.py @@ -0,0 +1,142 @@ +import os +import numpy as np +from prepare_data import reform_data +from fps_alg import apply_fps +from bbox_3d import get_3D_bbox +from compute_features import process_compute +import open3d as o3d +from scipy.spatial import distance +import argparse + +def generate_folders(name, list_categories, scenario): + is_exist = os.path.exists(name) + if not is_exist: + os.mkdir(name) + folders = ["RGB", "RGB_Gen", "RGB_resized", "Meta_Gen", "Depth", "Mask", "Meta", "Pose", "Bbox_2d", "Bbox_2d_loose", "Bbox_3d", "Bbox_3d_Gen", "Instance_Segmentation", "Semantic_Segmentation", "Instance_Mask", "Instance_Mask_resized", "Occlusion", "Models", "Pose_transformed", "Bbox", "FPS", "FPS_resized"] + for f in folders: + is_exist = os.path.exists(f"{name}/{f}") + if not is_exist: + if f not in ["RGB_Gen", "RGB_resized", "Instance_Mask", "Instance_Mask_resized", "Meta_Gen", "Models", "Pose_transformed", "Bbox", "Bbox_3d_Gen", "FPS" , "FPS_resized"]: + os.mkdir(f"{name}/{f}") + else: + for cat in list_categories: + is_exist2 = os.path.exists(f"{name}/Generated/{cat}") + if not is_exist2: + os.makedirs(f"{name}/Generated/{cat}") + is_exist2 = os.path.exists(f"{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}") + 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}") + 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}") + if not is_exist2: + os.makedirs(f"{name}/Generated_{scenario}_Testing/{cat}/{f}") + is_exist2 = os.path.exists(f"{name}/dont_save/{cat}/{f}") + if not is_exist2: + os.makedirs(f"{name}/dont_save/{cat}/{f}") + + + +def calc_pts_diameter2(pts): + """Calculates the diameter of a set of 3D points (i.e. the maximum distance + between any two points in the set). Faster but requires more memory than + calc_pts_diameter. + :param pts: nx3 ndarray with 3D points. + :return: The calculated diameter. + """ + dists = distance.cdist(pts, pts, 'euclidean') + diameter = np.max(dists) + return diameter + +if __name__ == '__main__': + # Create the parser + parser = argparse.ArgumentParser() + # 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) + # Parse the argument + args = parser.parse_args() + + scenario = "Worlds" + + ### parameters ### + Categories = [] # to read + Nb_instance = 1 + occ_target = 0.5 + + 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" + + 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/dataset{args.dataset_id}/s2rg/Fruits_all_medium/GUIMOD_{choice}" + list_categories = ["banana1", "kiwi1", "pear2", "strawberry1", "apricot", "orange2", "peach1", "lemon2", "apple2" ] + Nb_camera = 15 + #Nb_world = 10000 + + generate_folders(dataset_name, list_categories, scenario) + + if choice == 'high': + camera = np.matrix([[1386.4138492513919, 0.0, 960.5], + [0.0, 1386.4138492513919, 540.5], + [0.0, 0.0, 1.0]]) + # (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) + + new_camera = trans @ camera + + #np.savetxt(f'{dataset_name}/Generated/camera_{choice}.txt', camera) + + reform_data(dataset_src, dataset_name, dataset_type, Nb_camera, args.World_begin, args.Nb_worlds) + + list_categories = ["banana1", "kiwi1", "pear2", "strawberry1", "apricot", "orange2", "peach1", "lemon2", "apple2" ] + objs = {"banana1": [ 0.02949700132012367249, 0.1511049866676330566, 0.06059300713241100311 ], + "kiwi1": [ 0.04908600077033042908, 0.07206099480390548706, 0.04909799993038177490 ], + "pear2": [ 0.06601099669933319092, 0.1287339925765991211, 0.06739201396703720093 ], + "strawberry1": [0.01698100194334983826, 0.02203200198709964752, 0.01685700193047523499], + "apricot": [0.04213499650359153748, 0.05482299625873565674, 0.04333199933171272278], + "orange2": [ 0.07349500805139541626, 0.07585700601339340210, 0.07458199560642242432 ], + "peach1": [ 0.07397901266813278198, 0.07111301273107528687, 0.07657301425933837891 ], + "lemon2": [0.04686100035905838013, 0.04684200137853622437, 0.07244800776243209839], + "apple2": [0.05203099921345710754, 0.04766000062227249146, 0.05089000239968299866]} + + for categories in list_categories: + point_cloud = f"Models/{categories}/{categories.lower()}.ply" + pcd = o3d.io.read_point_cloud(point_cloud) + + fps_points = apply_fps(pcd, 8) + + np.savetxt(f'{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])) + + 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 + + #process_compute(dataset_name, camera, new_camera, new_size, Nb_camera, args.World_begin, args.Nb_worlds, list_categories, occ_target, False) +