class Renderer:
def __init__(self, config):
self.config = config
self.prepare_log_and_dir()
self.prepare_basic_settings()
self.load_scene()
self.prepare_sampler()
def prepare_log_and_dir(self):
self.log_dir = Path(self.config.output_log_dir).expanduser().joinpath(
'{}_{}_{}'.format(self.config.problem, self.config.start,
self.config.start + self.config.n_sample - 1))
self.logger = utils.get_logger(__name__,
log_dir=self.log_dir,
use_tqdm=True)
self.output_dir = Path(
self.config.output_data_dir).expanduser().joinpath(
self.config.problem)
self.image_dir = self.output_dir.joinpath('image')
self.blend_dir = self.output_dir.joinpath('blend')
self.info_dir = self.output_dir.joinpath('info')
self.seg_dir = self.output_dir.joinpath('seg')
directories = [self.image_dir, self.seg_dir, self.info_dir]
if self.config.output_blend:
directories.append(self.blend_dir)
if self.config.output_log:
directories.append(self.log_dir)
for directory in directories:
directory.mkdir(exist_ok=True, parents=True)
def prepare_basic_settings(self):
self.recorder = Recorder()
self.global_seed = utils.hash_seed(self.config.problem,
self.config.seed)
self.start = config.start
self.end = config.start + config.n_sample
self.current_idx = self.start
self.current_stage = 0
self.scene_reload_time = 10
def load_scene(self):
self.logger.info('Loading scene into blender...')
self.scene = Scene(self.config.base_scene_file, self.config.shape_dir,
self.config.material_dir,
self.config.properties_json)
self.scene.set_render_args(
resolution_x=self.config.width,
resolution_y=self.config.height,
tile_x=self.config.render_tile_size,
tile_y=self.config.render_tile_size,
gpu=self.config.gpu,
render_num_samples=self.config.render_num_samples,
transparent_min_bounces=self.config.transparent_min_bounces,
transparent_max_bounces=self.config.transparent_max_bounces,
min_bounces=self.config.min_bounces,
max_bounces=self.config.max_bounces)
self.valid_cameras = self.scene.cameras.keys()
self.initial_cameras = list(
set(self.valid_cameras) & set(self.config.initial_cameras))
self.final_cameras = list(
set(self.valid_cameras) & set(self.config.final_cameras))
self.logger.info('Available cameras for initial state: {}'.format(
self.initial_cameras))
self.logger.info('Available cameras for final state: {}'.format(
self.final_cameras))
def prepare_sampler(self):
valid_pairs = [
pair for pair in self.scene.option.pairs
if pair.startswith(tuple(self.config.valid_attr))
]
assert config.min_init_vis <= config.max_init_vis <= config.total_obj
self.sample_manager = SampleManager(
valid_init_vis=range(config.min_init_vis, config.max_init_vis + 1),
total_obj=config.total_obj,
valid_steps=range(config.min_trans, config.max_trans + 1),
valid_pairs=valid_pairs,
valid_move_type=['inner', 'out', 'in'],
pair_split=self.scene.option.SPLIT)
@property
def str_stage(self):
if self.current_stage == 0:
return 'initial'
elif self.current_stage == self.num_step:
return 'final'
else:
return '{:02d}'.format(self.current_stage)
@property
def images_path(self):
cameras = self.initial_cameras \
if self.current_stage == 0 else self.final_cameras
return {
cam: os.path.join(
str(self.image_dir),
'{}_{}_img_{:06d}-{}.{}.png'.format(self.config.dataset_prefix,
self.config.problem,
self.current_idx,
self.str_stage, cam))
for cam in cameras
}
@property
def segs_path(self):
return {
cam: os.path.join(
str(self.seg_dir),
'{}_{}_seg_{:06d}-{}.{}.png'.format(self.config.dataset_prefix,
self.config.problem,
self.current_idx,
self.str_stage, cam))
for cam in self.final_cameras
}
@property
def blend_path(self):
return os.path.join(
str(self.blend_dir),
'{}_{}_{:06d}-{}.blend'.format(self.config.dataset_prefix,
self.config.problem,
self.current_idx, self.str_stage))
@property
def json_path(self):
return os.path.join(
str(self.info_dir),
'{}_{}_{:06d}.json'.format(self.config.dataset_prefix,
self.config.problem, self.current_idx))
@property
def prefix(self):
return '#{}-{} '.format(self.current_idx, self.current_stage)
def info(self, message):
self.logger.info(self.prefix + message)
def warning(self, message):
self.logger.warning(self.prefix + message)
def error(self, message):
self.logger.error(self.prefix + message, exc_info=True)
def exclude_output_dir(self, path_dict):
return {key: os.path.basename(path) for key, path in path_dict.items()}
def set_seed(self):
seed = [self.global_seed, self.current_idx]
random.seed(str(seed))
np.random.seed(seed)
def run(self, replace_start=-1):
for self.current_idx in tqdm.trange(self.start, self.end, ncols=80):
# Reload to avoiding the unknown issue of slowing down.
if self.current_idx % self.scene_reload_time == 0:
self.load_scene()
# Skip existing samples.
if os.path.isfile(self.json_path):
info = self.sample_manager.record_json(self.json_path)
if self.current_idx >= replace_start:
self.render_from_json(info)
continue
self.logger.info('---')
self.set_seed()
while True:
try:
if self.build_sample():
self.sample_manager.sample_success()
self.summary()
break
else:
self.sample_manager.sample_fail()
self.clear_history()
except KeyboardInterrupt:
self.warning('Keyboard Interrupted.')
sys.exit(1)
except Exception as e:
self.error(str(e))
"""
Rule A: no overlapping.
Rule B: transformation must be observable
1. occluded objects can not be transformmed (visible in initial states)
2. transformed objects can not be moved out (visible in final states)
3. transformed objects can not be occluded (visible in final states)
"""
def build_sample(self):
# Sample the initial state.
self.current_stage = 0
if not self.sample_init_state():
return False
self.record()
# Decide the number of steps.
self.num_step = self.sample_manager.random_step()
self.logger.info('Number of atomic transformations: {}.'.format(
self.num_step))
# Apply randomly sampled atomic transformations one by one.
for _ in range(self.num_step):
self.current_stage += 1
while True:
pair = self.sample_manager.random_pair()
if pair is None:
return False
response = self.try_pair(pair)
if response is None:
self.warning(
'[Fair] ({}/{}) {} -> no feasible object.'.format(
len(self.sample_manager.tried_pairs),
self.sample_manager.top_pair, pair))
self.sample_manager.stage_fail()
else:
self.record(trans_response=response)
self.sample_manager.stage_success()
break
# Show the sequence of transformation.
for i, trans_info in enumerate(self.recorder.info['transformations']):
self.logger.info('[{}] {} -> {}{}'.format(
i, trans_info['pair'], trans_info['obj_idx'],
' ({})'.format(trans_info['type'])
if trans_info['attr'] == 'position' else ''))
# Save the information about the sample into a json file.
self.info('Saveing info...')
if not self.recorder.save(self.json_path, self.config.json_indent):
return False
with open(self.json_path, 'r') as f:
info = json.load(f)
self.render_from_json(info)
return True
def render_from_json(self, info):
cameras = info['cameras']
lamps = info['lamps']
self.num_step = len(info['states']) - 1
render_stages = list(range(self.num_step + 1))
if not self.config.render_intermediate:
render_stages = [render_stages[0], render_stages[-1]]
for s in render_stages:
self.current_stage = s
for _, path in self.images_path.items():
if not os.path.isfile(path):
objects = info['states'][s]['objects']
self.scene.set_scene(objects, cameras, lamps)
if not self.render_main():
return False
break
return True
def sample_init_state(self):
self.info('Start to building initial state.')
# Reset & initialize blender environment.
self.info('Reset environment.')
self.scene.reset()
self.scene.perturb_camera(self.config.camera_jitter)
self.scene.perturb_lamp(self.config.lamp_jitter)
# Reset recorder.
self.info('Reset recorder')
self.recorder.init(self.scene, self.current_idx)
# Decide the visibilities of objects.
self.num_init_visible = self.sample_manager.random_init()
visible_choices = [True] * self.num_init_visible \
+ [False] * (self.config.total_obj - self.num_init_visible)
random.shuffle(visible_choices)
# Randomly create and place objects.
self.info('Creating {} random objects, {} visible...'.format(
self.config.max_init_vis, self.num_init_visible))
for i, visible in enumerate(visible_choices):
obj = self.scene.create_random_object(visible=visible)
if obj is None:
self.warning('{} No enough space for {} objects.'.format(
i, 'visible' if visible else 'invisible'))
self.warning('Failed to build initial state. Retry...')
return False
else:
self.info('{} ({:^9s}) Put a {:6s} {:6s} {:6s} {:8s}'
' at ({:3d}, {:3d})'.format(
i, 'visible' if visible else 'invisible',
obj['size'], obj['color'], obj['material'],
obj['shape'], *obj['position']))
self.info('* Successfully build initial state.')
return True
def try_pair(self, pair):
# Try sampled atomic transformations on objects.
while True:
move_type = self.sample_manager.random_move_type() \
if pair.startswith('position') else None
if pair.startswith('position') and move_type is None:
return None
objs = self.get_valid_objs(pair, move_type=move_type)
self.info('Valid objects for {}: {}'.format(pair, objs))
while len(objs) > 0:
obj_idx = self.sample_manager.random_obj(valid_objs=objs)
objs.remove(obj_idx)
is_success, response = self.transform(
self.scene.objects[obj_idx], pair, move_type)
if is_success:
return response
if not pair.startswith('position'):
return None
else:
self.warning('[Fail] ({}/{}) move {}'.format(
len(self.sample_manager.tried_move_type),
self.sample_manager.top_move_type, move_type))
def get_valid_objs(self, pair, move_type=None):
# Rule 1. Occluded objects can not be transformmed.
if move_type == 'in':
choices = self.scene.invisible_objects
else:
choices = self.get_non_occluded_objs()
choices = [self.scene.get_index(obj) for obj in choices]
return choices
def transform(self, obj, pair, move_type=None):
trans = [obj, *pair.split(self.scene.option.SPLIT)]
attr = trans.pop(1)
trans_info = {
'pair': pair,
'obj_name': self.scene.get_name(obj),
'obj_idx': self.scene.get_index(obj)
}
trans_func = getattr(self, 't_{}'.format(attr))
args = trans + [move_type] if move_type else trans
self.info('{} <- {}'.format(trans_info['obj_name'], pair))
is_success, response = trans_func(*args)
response.update(trans_info)
return is_success, response
def t_position(self, obj, direction, step, move_type):
step = int(step)
response = {
'attr': 'position',
'old': self.scene.get_position(obj),
'new': '',
'target': (direction, step),
'type': '',
'options': [],
}
x, y = response['old']
dx, dy = self.scene.option.get_delta_position(direction, step)
new_x = x + dx
new_y = y + dy
response['new'] = (new_x, new_y)
if not self.scene.option.is_position_valid(new_x, new_y):
self.warning('[Fail] position ({}, {}) is invalid.'.format(
new_x, new_y))
return False, response
vis_old = self.scene.option.is_visible(x, y)
vis_new = self.scene.option.is_visible(new_x, new_y)
if vis_old and vis_new:
response['type'] = 'inner'
elif vis_old and (not vis_new):
response['type'] = 'out'
elif (not vis_old) and vis_new:
response['type'] = 'in'
else:
self.warning('[Fail] move object inside invisible area.')
return False, response
if response['type'] != move_type:
self.warning('[Fail] move type ({} vs. {}) not match.'.format(
response['type'], move_type))
return False, response
# Rule 2. Transformed objects can not be moved out.
if response['type'] == 'out' and self.was_transformed(obj):
self.warning('[Fail] Modified objects can not be moved out.')
return False, response
self.scene.set_position(obj, new_x, new_y)
if self.scene.is_overlapped(obj):
self.warning('[Fail] Overlap.')
# Rule 3. Transformed objects can not be occluded.
elif self.cause_occlusion(obj):
self.warning('[Fail] Cause occlusion.')
else:
if response['type'] == 'out':
response['options'].extend(
self.scene.option.get_move_options(x, y)['invisible'])
else:
response['options'].append((direction, step))
return True, response
# Revert.
self.scene.set_position(obj, x, y)
return False, response
def t_shape(self, obj, new_shape):
response = {
'attr': 'shape',
'old': self.scene.get_shape(obj),
'new': None,
'target': None,
}
old_shape = response['old']
if new_shape == old_shape:
self.warning('[Fail] no change.')
return False, response
obj = self.scene.set_shape(obj, new_shape)
response['new'] = response['target'] = new_shape
return True, response
def t_size(self, obj, new_size):
response = {
'attr': 'size',
'old': self.scene.get_size(obj),
'new': new_size,
'target': new_size,
}
old_size = response['old']
if new_size == old_size:
self.warning('[Fail] no change.')
return False, response
self.scene.set_size(obj, new_size)
if self.scene.option.is_bigger(new_size, old_size) and \
self.scene.is_overlapped(obj):
self.warning('[Fail] Overlap.')
# Rule 3. transformed objects can not be occluded (visible in final states)
elif self.cause_occlusion(obj):
self.warning('[Fail] Cause occlusion.')
else:
return True, response
self.scene.set_size(obj, old_size)
return False, response
def t_material(self, obj, new_material):
response = {
'attr': 'material',
'old': self.scene.get_material(obj),
'new': new_material,
'target': new_material,
}
old_material = response['old']
if new_material == old_material:
self.warning('[Fail] no change.')
return False, response
self.scene.set_material(obj, new_material)
return True, response
def t_color(self, obj, new_color):
response = {
'attr': 'color',
'old': self.scene.get_color(obj),
'new': new_color,
'target': new_color,
}
old_color = response['old']
if new_color == old_color:
self.warning('[Fail] no change.')
return False, response
self.scene.set_color(obj, new_color)
return True, response
def render_main(self):
if not self.config.no_render:
self.info('[Render] main ({})...'.format(self.current_stage))
for key, image_path in self.images_path.items():
if not os.path.isfile(image_path):
time_used = self.scene.render(image_path,
self.scene.cameras[key],
config.width, config.height)
self.info('- {}: {}'.format(key,
utils.time2str(time_used)))
if not os.path.isfile(image_path):
return False
return True
def render_seg(self):
self.info('[Render] seg ({})...'.format(self.current_stage))
for key, seg_path in self.segs_path.items():
time_seg_used = self.scene.render_shadeless(
seg_path, self.scene.cameras[key], config.seg_width,
config.seg_height)
self.info('- {}: {}'.format(key, utils.time2str(time_seg_used)))
if not os.path.isfile(seg_path):
return False
return True
def record(self, trans_response=None):
status = self.get_objs_status()
self.recorder.record_scene(self.scene, self.current_stage,
self.exclude_output_dir(self.images_path),
self.exclude_output_dir(self.segs_path),
status['n_pixels'], status['status'])
if trans_response is not None:
self.recorder.record_trans(self.current_stage - 1,
self.current_stage, trans_response)
if self.config.output_blend:
self.info('[Save] Blender file.')
self.scene.save(self.blend_path)
def get_objs_status(self, stage=None):
if stage is None:
stage = self.current_stage
states = self.recorder.info['states']
assert -len(states) <= stage <= len(states), (
'stage {} is out of range'.format(stage))
if -len(states) <= stage < len(states):
return {
'status': states[stage]['status'],
'n_pixels': states[stage]['n_pixels']
}
else:
assert self.render_seg(), '[Error] render seg failed.'
n_pixels = {}
cams = list(set(self.initial_cameras) | set(self.final_cameras))
for cam in cams:
image_path = self.segs_path[cam]
n_pixels[cam] = self.count_pixels(image_path)
status = self.pixels2status(n_pixels)
return {'status': status, 'n_pixels': n_pixels}
def count_pixels(self, seg_path):
assert os.path.isfile(seg_path), '[Error] {} doesn\'t exist.'.format(
seg_path)
pixels = {}
colors = utils.count_color(seg_path)
for n, color in sorted(colors):
obj = self.scene.option.get_seg_object(color)
if obj is not None:
pixels[obj] = n
return pixels
def pixels2status(self, n_pixels):
status = defaultdict(dict)
min_pixels = self.config.occlusion_threshold
for cam, val in n_pixels.items():
for obj in self.scene.objects:
if obj in self.scene.invisible_objects:
status[cam][obj.name] = 'invisible'
elif obj.name not in val or val[obj.name] < min_pixels:
status[cam][obj.name] = 'occluded'
else:
status[cam][obj.name] = 'visible'
return status
def cause_occlusion(self, obj):
status = self.get_objs_status(stage=self.current_stage)['status']
for x in self.scene.objects:
if x == obj or self.was_transformed(x):
x_name = self.scene.get_name(x)
for cam in self.final_cameras:
if status[cam][x_name] == 'occluded':
return self.scene.get_index(x)
return None
def get_non_occluded_objs(self):
status = self.get_objs_status(stage=0)['status']
objects = self.scene.visible_objects.copy()
for cam in self.initial_cameras:
for obj_name, state in status[cam].items():
obj = self.scene.b_objects[obj_name]
if state == 'occluded' and obj in objects:
objects.remove(obj)
return objects
def was_transformed(self, obj, attr=None):
for trans_info in self.recorder.info['transformations']:
if obj.name == trans_info['obj_name'] and (
attr is None or trans_info['attr'] == attr):
return True
return False
def clear_history(self):
self.logger.info('Removing files after failed...')
for scene in self.recorder.info['states']:
for image in scene['images'].values():
img_path = self.image_dir / image
if img_path.exists():
img_path.unlink()
for seg in scene['segs'].values():
seg_path = self.seg_dir / seg
if seg_path.exists():
seg_path.unlink()
def summary(self):
self.logger.info('---')
self.logger.info('Data dir: {}'.format(self.output_dir.resolve()))
if self.config.output_log:
self.logger.info('Log dir: {}'.format(self.log_dir.resolve()))
self.logger.info('---')
state = self.sample_manager.state()
self.logger.info('Progress: {} (load: {})'.format(
state['sample_success'] + state['sample_load'],
state['sample_load']))
self.logger.info('Sample success: {} ({:.4f})'.format(
state['sample_success'], state['rate_sample_success']))
self.logger.info('Stage success: {} ({:.4f})'.format(
state['stage_success'], state['rate_stage_success']))
self.logger.info('Total time: {}'.format(utils.time2str(
state['time'])))
self.logger.info('Average sample time: {}'.format(
utils.time2str(state['time_avg_sample'])))
self.logger.info('Average stage time: {}'.format(
utils.time2str(state['time_avg_stage'])))
self.logger.info('---')
self.logger.info('Initial Visible Object:')
for init_vis, num in sorted(self.sample_manager.n_init_vis.items()):
self.logger.info('- {}: {}'.format(init_vis, num))
self.logger.info('---')
self.logger.info('Steps:')
for key, num in sorted(self.sample_manager.n_step.items()):
self.logger.info('- {}: {}'.format(key, num))
self.logger.info('---')
self.logger.info('Object:')
for key, num in sorted(self.sample_manager.n_obj.items()):
self.logger.info('- {}: {}'.format(key, num))
self.logger.info('---')
self.logger.info('Pair:')
for key, num in sorted(self.sample_manager.n_pair['gram_1'].items()):
self.logger.info('- {}: {}'.format(key, num))
self.logger.info('---')
self.logger.info('Move Type:')
for key, num in sorted(self.sample_manager.n_move_type.items()):
self.logger.info('- {}: {}'.format(key, num))
self.logger.info('---')
self.logger.info('Balance State')
for key, state in sorted(self.sample_manager.balance_state.items()):
self.logger.info('# {}'.format(key))
for k, v in sorted(state.items()):
self.logger.info('- {}: {}'.format(k, v))
class MyWidget(QWidget, Ui_Form):
"""
主窗口
"""
item_delete_signal = DeleteItemSignal.my_signal().signal
def __init__(self, parent=None):
super(MyWidget, self).__init__(parent)
self.setupUi(self)
self.setWindowTitle("VoiceReminder")
self.pushButton.setStyleSheet("QPushButton{border-image: url(img/start.png)}")
self.lcdNumber.setDigitCount(2)
self.lcdNumber.setVisible(False)
self.setting_time_dialog = SettingTimeDialog()
self.setting_time_dialog.setWindowModality(Qt.ApplicationModal)
self.record = Recorder()
self.timer = QTimer()
self.timing_thread = TimingThread()
self.play_thread = PlayAudioThread()
self.is_recording = False # 用于判断当前是否正在录音
self.display_all_reminders_list_from_existed_database()
self.timer.timeout.connect(self.displaying_recording_time)
self.pushButton.clicked.connect(lambda: self.start_or_stop_recording(self.is_recording))
self.setting_time_dialog.pushButton.clicked.connect(self.set_time_from_dialog)
self.listWidget.itemClicked.connect(self.play_corresponding_audio_file) # itemClicked自带一个参数:item
self.item_delete_signal.connect(self.display_all_reminders_list_from_existed_database)
self.timing_thread.time_out_signal.connect(self.display_all_reminders_list_from_existed_database)
def displaying_recording_time(self):
"""
每1秒触发一次，使得LCD显示加1，作为录音时长的显示
"""
self.lcdNumber.display(self.lcdNumber.intValue() + 1)
def start_or_stop_recording(self, flag):
"""
根据self.is_recording标记判断此时按下按钮是开始录音还是停止录音
"""
if not flag: # 开始录音
self.lcdNumber.setVisible(True)
self.start_recording()
self.timer.start(1000)
else: # 停止录音，并显示提醒时间的设置对话框
self.timer.stop()
self.lcdNumber.setVisible(False)
self.lcdNumber.display(0)
self.stop_recording()
self.setting_time_dialog.show_in_somewhere(
self.pos().x() + (self.width() - self.setting_time_dialog.width()) // 2,
self.pos().y() + (self.height() - self.setting_time_dialog.height()) // 2)
self.setting_time_dialog.display_time_same_as_current_time()
def start_recording(self):
"""
开始录音
"""
self.is_recording = True
self.pushButton.setStyleSheet("QPushButton{border-image: url(img/stop.png)}")
self.record.start()
def stop_recording(self):
"""
停止录音
"""
self.is_recording = False
self.pushButton.setStyleSheet("QPushButton{border-image: url(img/start.png)}")
self.record.stop()
self.record.save()
def set_time_from_dialog(self):
"""
设置时间后，将(时间串, 录音文件名)存入数据文件，并刷新窗口
"""
date_string = self.setting_time_dialog.dateEdit.date().toString("yyyy-MM-dd")
time_string = self.setting_time_dialog.timeEdit.time().toString("HH:mm")
target_time_string = date_string + " " + time_string
self.setting_time_dialog.setVisible(False)
save_reminder_information_to_database(target_time_string, self.record.filename)
self.display_all_reminders_list_from_existed_database()
def display_all_reminders_list_from_existed_database(self, database_file=DATABASE_FILE):
"""
读取数据文件中的所有待办事项并重新显示
"""
self.listWidget.clear()
try:
reminder_list = get_data_from_database(database_file)
if not reminder_list:
print("无语音待办提醒")
return
current_time_string = get_current_time_string() # 获取当前时间，判断哪些是无效的那些是有效的
happened, not_happened = split_into_happened_and_not_happened_ones(current_time_string, reminder_list)
if not not_happened:
self.timing_thread.set_time_and_audio_filename('', '')
# 没有not_happened待办时，传递空值参数使计时线程停止
print("所有语音待办提醒均已完成")
else:
self.timing_thread.set_time_and_audio_filename(not_happened[0][0], not_happened[0][1])
self.timing_thread.start()
not_happened_length = len(not_happened)
for i, reminder in enumerate(not_happened + happened[::-1]):
item = MyQListItem(name=reminder[0])
item.setToolTip(reminder[1])
if i >= not_happened_length: # 已完成待办显示成灰色
item.label.setStyleSheet("color:#aaaaaa;")
else:
item.label.setStyleSheet("color:#000000;")
self.listWidget.addItem(item)
self.listWidget.setItemWidget(item, item.widget)
except FileNotFoundError:
print("您还没有创建任何语音待办提醒")
def play_corresponding_audio_file(self, item):
"""
播放列表中的此item对应的语音文件
"""
print(item.label.text(), "Voice filename:", item.toolTip())
try:
self.play_thread.set_wav_filename(item.toolTip())
self.play_thread.start()
except FileNotFoundError:
# 如果找不到对应的语音文件，则删除此条
msg_box = QMessageBox()
ret = msg_box.warning(self, "Warning", "Can't find .wav file, will u want to delete it?",
QMessageBox.Yes | QMessageBox.No, QMessageBox.Yes)
if ret == QMessageBox.Yes:
delete_reminder_from_database(item.label.text(), item.toolTip())
self.display_all_reminders_list_from_existed_database()
