def crop_oriented_rect_polar(self, im, center, angle, rx, ry):
xc, yc = center
# top, left, right, bottom = xc-rx, yc-ry, xc+rx, yc+ry
dx, dy = ProcUtils().rotateXY_float(-rx, ry, angle)
pt0 = (int(xc + dx), int(yc + dy))
dx, dy = ProcUtils().rotateXY_float(-rx, -ry, angle)
pt1 = (int(xc + dx), int(yc + dy))
dx, dy = ProcUtils().rotateXY_float(rx, -ry, angle)
pt2 = (int(xc + dx), int(yc + dy))
dx, dy = ProcUtils().rotateXY_float(rx, ry, angle)
pt3 = (int(xc + dx), int(yc + dy))
return self.crop_oriented_rect(im, (pt0, pt1, pt2, pt3))
def set_rgb(self, rgb=None, rgb_path=None):
"""set rgb with given ndarray or rgb file path
"""
if rgb is not None: self.rgb=np.copy(rgb)
else: self.rgb=None
self.hasRgb = rgb is not None or ProcUtils().isimpath(rgb_path)
if not self.hasRgb: return 0
if ProcUtils().isimpath(rgb_path):
self.rgb = cv2.imread(rgb_path)[::-1]
self.height, self.width = self.rgb.shape[:2]
if self.workspace is not None: self.workspace.correct_ws(max_shape=(self.width,self.height))
else: self.set_workspace()
# self.roi = ProcUtils().correct_cropsize(self.crop_size, self.size)
self.fix_depth_size()
def save_rgbd(self, rgbd, filename=None, save_dir_name='cam_data'):
""" save rgbd object to files
:param rgbd: rgbd object
:type rgbd: :class:`.RGBD`
:param filename: image filename
:type filename: str
"""
subdir = ProcUtils().get_current_time_str('%m%d')
if rgbd.hasRgb:
filename = ArrayUtils().save_array(
array=rgbd.bgr(),
folds=[self.args.root_dir, save_dir_name, subdir, 'image'],
filename=filename)
if rgbd.hasDepth:
_ = ArrayUtils().save_array(
array=rgbd.depth,
folds=[self.args.root_dir, save_dir_name, subdir, 'depth'],
filename=filename)
# _ = ArrayUtils().save_array(array=rgbd.depth_disp(args=self.args, show_jet=False),
# folds=[self.args.data_root, save_dir_name, subdir, 'depth_disp'],
# filename=filename)
# _ = ArrayUtils().save_array(array=rgbd.depth_disp(args=self.args, show_jet=True),
# folds=[self.args.data_root, save_dir_name, subdir, 'depth_disp_jet'],
# filename=filename)
print('image saved ...')
time.sleep(0.03)
def save_array_v2(self, array, fold=None, filename=None, ext='.png'):
if filename is None: filename = ProcUtils().get_current_time_str()
filepath = filename + ext
if fold is not None:
if not os.path.exists(fold): os.makedirs(fold)
cv2.imwrite(filepath, array)
return filename
def process_this(self):
in_dir, self.filename = os.path.split(self.rgbd_path[0])
self.filename, self.fileext = os.path.splitext(self.filename)
test_some = hasattr(self.args, 'images')
test_ignore = hasattr(self.args, 'ignores')
if test_some:
if self.filename not in self.args.images:
print('>>> This image not in test list >>> Skip')
ProcUtils().clscr()
return False
if test_ignore:
if self.filename in self.args.ignores:
print('>>> This image in ignore list >>> Skip')
ProcUtils().clscr()
return False
return True
def aug_single(self,im_path, im_id, bg_ims=None, angle_step=10, show_step=False):
from scipy.ndimage import rotate
from shutil import copyfile
from ketisdk.utils.proc_utils import ProcUtils
# makedir
im_dir = os.path.split(im_path)[0]
root_dir, dir_name = os.path.split(im_dir)
save_dir = os.path.join(root_dir, f'{dir_name}_aug')
os.makedirs(save_dir, exist_ok=True)
# read image
im = cv2.imread(im_path)[:, :, ::-1]
im_height, im_width = im.shape[:2]
if show_step: cv2.imshow('im', im[:,:,::-1])
# get instances
instances = [instance for instance in self.annotation_dict_list if im_id == instance['image_id']]
for angle in range(0,360, angle_step):
im_out_path = os.path.join(save_dir, ProcUtils().get_current_time_str() + '.png')
# make image
if angle==0:
copyfile(im_path, im_out_path)
im_rot = np.copy(im)
else:
im_rot = np.copy(rotate(im, angle=angle, reshape=False, order=3))
cv2.imwrite(im_out_path,im_rot[:,:,::-1])
self.make_ann_images(self.image_id,im_out_path,(im_width,im_height), self.out_images)
# make annotation
for instance in instances:
mask, bbox = self.segmToMask(instance['segmentation'], h=im_height, w=im_width), instance['bbox']
if angle !=0:
mask = rotate(mask,angle=angle, reshape=False, order=0)
Y,X = np.where(mask>0)
if len(Y)==0: continue
x,y = np.amin(X), np.amin(Y)
w, h = np.amax(X)-x, np.amax(Y)-y
bbox = [x,y,w,h]
if show_step:
locs = np.where(mask>0)
im_rot[locs] = 0.7*im_rot[locs] + (0,75,0)
cv2.rectangle(im_rot, (bbox[0], bbox[1]), (bbox[0]+bbox[2], bbox[1]+bbox[3]), (255,0,0), 2)
# cv2.rectangle(im_rot,(bbox[0], bbox[1]), (bbox[2], bbox[3]), (255,0,0), 2)
cv2.imshow('im_rot', im_rot[:,:,::-1])
cv2.waitKey()
self.make_annotations(mask, bbox, self.ann_id, self.image_id, instance['category_id'],annotations=self.out_annotations)
self.ann_id +=1
self.image_id+=1
def save_array(self, array, folds=None, filename=None, ext='.png'):
if filename is None: filename = ProcUtils().get_current_time_str()
filepath = filename + ext
if folds is not None:
folder = ''
for fold in folds:
folder = os.path.join(folder, fold)
if not os.path.exists(folder): os.makedirs(folder)
filepath = os.path.join(folder, filepath)
cv2.imwrite(filepath, array)
return filename
def save(self, ann_path, images=None, annotations=None, categories=None, ann_info=None, ann_license=None):
from ketisdk.utils.proc_utils import ProcUtils
import json
if ann_info is None:
ann_info = {"info": {
"description": "KETI Dataset",
"url": "keti.re.kr",
"version": "1.0",
"year": int(ProcUtils().get_current_time_str('%Y')),
"contributor": "Trung Bui",
"data_create": '{}/{}/{}'.format(ProcUtils().get_current_time_str('%Y'),
ProcUtils().get_current_time_str('%m'),
ProcUtils().get_current_time_str('%d'))
}}
if ann_license is None:
ann_license = {"licenses": [
{"url": "keti.re.kr",
"id": "1",
"name": "Atribution license"
}]}
if images is None: images = self.image_dict_list
if categories is None: categories = self.categories
if annotations is None: annotations = self.annotation_dict_list
ann_dict = dict()
ann_dict.update(ann_info)
ann_dict.update(ann_license)
ann_dict.update({"images": images})
ann_dict.update({"categories": categories})
ann_dict.update({"annotations": annotations})
save_dir, _ = os.path.split(ann_path)
os.makedirs(save_dir, exist_ok=True)
instance_json_obj = open(ann_path, 'w')
instance_json_obj.write(json.dumps(ann_dict))
instance_json_obj.close()
print('{} {} saved'.format('+'*10, ann_path))
def read_json(self, json_path):
""" read json file from path
:param json_path: json file path
:type json_path: str
:return: dict of contents
"""
assert ProcUtils().isexists(json_path)
json_file = open(json_path)
json_dict = json.load(json_file)
json_file.close()
return json_dict
def set_depth(self, depth=None, depth_path=None):
"""set depth with given ndarray or depth file path"""
if depth is not None: self.depth=np.copy(depth)
else: self.depth=None
self.hasDepth = depth is not None or ProcUtils().isimpath(depth_path)
if not self.hasDepth: return 0
if ProcUtils().isimpath(depth_path):
self.depth = cv2.imread(depth_path, -1)
if self.hasRgb: self.height, self.width = self.rgb.shape[:2]
else: self.height, self.width = self.depth.shape[:2]
if self.workspace is not None: self.workspace.correct_ws(max_shape=(self.width, self.height))
else: self.set_workspace()
self.fix_depth_size()
if self.depth_inpaint_rad is not None:
depth_crop = self.crop_depth()
left, top, right, bottom = self.workspace.bbox
self.depth[top:bottom, left:right] = self.inpaint_depth(self.depth_inpaint_rad,depth_crop)
if self.depth_denoise_ksize is not None:
depth_crop_filtered = cv2.medianBlur(self.crop_depth(), ksize=self.depth_denoise_ksize)
left, top, right, bottom = self.workspace.bbox
self.depth[top:bottom, left:right] = depth_crop_filtered
def run():
commands = ['run_realsense_gui', 'demo_client_gui']
cmd_dict = ProcUtils().get_command_keys(commands)
key = input('select action: ')
input_command = cmd_dict[key]
if input_command == 'run_sensors':
from .run_sensors import run
if input_command == 'demo_client_gui':
from .demo_client_gui import demo_client_gui as run
run()
def get_info_from_json(self, json_path):
"""
:param json_path: json file path
"""
ann_dict = BasJson().read_json(json_path)
info = ann_dict['Info']
self.classes = ann_dict['Classes']
self.polygons = ann_dict['Polygons']
self.classes_unq = list(np.unique(self.classes))
self.colors = ProcUtils().get_color_list(len(self.classes_unq))
self.color_dict = dict()
for cls, color in zip(self.classes_unq, self.colors):
self.color_dict.update({cls: color})
def draw_polys_from_json(self,
json_path,
im=None,
im_path=None,
text_scale=1.5,
text_thick=3,
rect=(0, 0, 100, 100),
space=10,
alpha=0.5,
up2down=True):
"""
:param json_path: json file path
:param im: ndarray image
:param im_path: image file path
:param text_scale: opencv text_scale
:param text_thick: opencv text_thick
:param rect: rect location of text display
:param space: space between text lines
:param alpha: text transparency
:param up2down: direct to display text lines
:returns: ndarray
"""
assert im is not None or im_path is not None
if ProcUtils().isimpath(im_path): im = cv2.imread(im_path)
self.get_info_from_json(json_path)
out = self.draw_polys(im)
if hasattr(self, 'args'):
text_scale, text_thick, rect, space, alpha, up2down = self.args.text_scale, self.args.text_thick, \
self.args.text_rect, self.args.text_space, \
self.args.text_alpha, self.args.text_alpha
out = VisUtils().draw_texts_blend(out,
texts=self.classes_unq,
colors=self.colors,
scale=text_scale,
thick=text_thick,
text_rect=rect,
space=space,
alpha=alpha,
up2down=up2down)
return out
def run():
commands = [
'demo_gui', 'demo_vision', 'demo_robot', 'demo_calib', 'demo_workcell'
]
cmd_dict = ProcUtils().get_command_keys(commands)
key = input('select action: ')
input_command = cmd_dict[key]
if input_command == 'demo_gui':
from ketisdk.gui.gui import GUI
GUI()
return
if input_command == 'demo_vision':
from ketisdk.vision.samples.select_sample import run
if input_command == 'demo_robot':
from ketisdk.robot.samples.select_sample import run
if input_command == 'demo_calib':
from ketisdk.calib.samples.select_sample import run
if input_command == 'demo_workcell':
from ketisdk.workcell.samples.select_sample import run
run()
def save_array_v3(self, array, filepath=None):
if filepath is None: filepath = ProcUtils().get_time_name() + '.png'
fold, _ = os.path.split(filepath)
if not os.path.exists(fold): os.makedirs(fold)
cv2.imwrite(filepath, array)
def set_bg_rgb(self, rgb=None, rgb_path=None):
""" set rgb of background"""
if rgb is not None or ProcUtils().isimpath(rgb_path):
self.has_bg=True
if ProcUtils().isimpath(rgb_path): rgb = cv2.imread(rgb_path)[:,:,::-1]
self.rgb_bg = cv2.resize(rgb, (self.width, self.height), interpolation=cv2.INTER_CUBIC)
def set_bg_depth(self, depth=None, depth_path=None):
""" set depth of background"""
if depth is not None or ProcUtils().isimpath(depth_path):
self.has_bg = True
if ProcUtils().isimpath(depth_path): depth = cv2.imread(depth_path, -1)
self.depth_bg = cv2.resize(depth, (self.width, self.height), interpolation=cv2.INTER_CUBIC)
