def get_grasp(self,idx,rot = 0,zoom=1.0):
grs = Grasps.load_from_jacquard_files(self.graspf[idx],scale = self.output_size/1024.0)#因为图像每个都resize了，所以这里每个抓取框都要缩放
c = self.output_size//2
grs.rotate(rot,(c,c))
grs.zoom(zoom,(c,c))
pos_img,angle_img,width_img = grs.generate_img(self.output_size,self.output_size)
return pos_img,angle_img,width_img
def get_grasp(self,idx,rot = 0,zoom=1.0):
grs = Grasps.load_from_jacquard_files(self.graspf[idx],scale = self.output_size/1024.0)#因为图像每个都resize了，所以这里每个抓取框都要缩放
c = self.output_size//2
grs.rotate(rot,(c,c))
grs.zoom(zoom,(c,c))
pos_img,angle_img,width_img = grs.generate_img(self.output_size,self.output_size)
# poto_data = (pos_grid_img,gt_points, gt_angles, gt_widths,gt_lengths)
poto_data = grs.generate_grid_mask(shape = (self.output_size,self.output_size))
return pos_img,angle_img,width_img,poto_data
def get_raw_grasps(self,idx,rot = 0,zoom = 1.0):
'''
:功能 :读取返回指定id的抓取框信息斌进行一系列预处理(裁剪，缩放等)后以Grasps对象的形式返回
:参数 idx :int,要读取的数据id
:返回 :Grasps，此id中包含的抓取
'''
raw_grasps = Grasps.load_from_jacquard_files(self.graspf[idx],scale = self.output_size/1024.0)
c = self.output_size//2
raw_grasps.rotate(rot,(c,c))
raw_grasps.zoom(zoom,(c,c))
return raw_grasps
def check_typical(self, idx, rot, zoom):
grs = Grasps.load_from_jacquard_files(
self.graspf[idx],
scale=self.output_size / 1024.0) #因为图像每个都resize了，所以这里每个抓取框都要缩放
c = self.output_size // 2
grs.rotate(rot, (c, c))
grs.zoom(zoom, (c, c))
# 下面是新加的代码,用于测试典型学习的内容
angles = [round(gr.angle, 1) for gr in grs.grs]
angle_dict = dict(Counter(angles))
list1, list2 = (list(t) for t in zip(
*sorted(zip(angle_dict.values(), angle_dict.keys()))))
first = list1[-1]
if len(list1) > 1:
second = list1[-2]
total = first + second
else:
total = first
percent = (total) / len(grs.grs)
if percent > 0.70:
# 生成样例学习
angle_shift = 0.2
typical1_min = list2[-1] - angle_shift
typical1_max = list2[-1] + angle_shift
if len(list1) > 1:
typical2_min = list2[-2] - angle_shift
typical2_max = list2[-2] + angle_shift
else:
typical2_min = 0
typical2_max = 0
grs1 = []
grs2 = []
grs3 = []
for gr in grs.grs[::]:
if gr.angle < typical1_max and gr.angle > typical1_min:
grs1.append(gr)
elif gr.angle < typical2_max and gr.angle > typical2_min:
grs2.append(gr)
else:
grs3.append(gr)
grasp_true1 = Grasps(grs1)
# grasp_true2 = Grasps(grs2)
# grasp_true3 = Grasps(grs3)
return percent, grasp_true1
return percent, Grasps(grs)
def get_grasp(self, idx, rot=0, zoom=1.0):
grs = Grasps.load_from_jacquard_files(
self.graspf[idx],
scale=self.output_size / 1024.0) #因为图像每个都resize了，所以这里每个抓取框都要缩放
c = self.output_size // 2
grs.rotate(rot, (c, c))
grs.zoom(zoom, (c, c))
# 下面是新加的代码,用于测试典型学习的内容
percent, grasp_true1 = self.check_typical(idx, rot, zoom)
if percent > 0.70:
pos_img, angle_img, width_img = grasp_true1.generate_img_n(
self.output_size, self.output_size)
else:
# 不是的话啥都不用做
pos_img, angle_img, width_img = grs.generate_img(
self.output_size, self.output_size)
return pos_img, angle_img, width_img
